CN107463191A - Control moment gyroscope system and mobile devices - Google Patents
Control moment gyroscope system and mobile devices Download PDFInfo
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- CN107463191A CN107463191A CN201710460612.2A CN201710460612A CN107463191A CN 107463191 A CN107463191 A CN 107463191A CN 201710460612 A CN201710460612 A CN 201710460612A CN 107463191 A CN107463191 A CN 107463191A
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- gyro
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- moment gyroscope
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D17/00—Control of torque; Control of mechanical power
- G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
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- Automation & Control Theory (AREA)
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Abstract
The present invention puies forward a kind of control moment gyroscope system, including gyro unit, the arrangement for deflecting and pedestal of driving gyro unit deflection, gyro unit include gyro disk and drive the drive device of gyro disc spins.Gyro disk is rotatably installed on arrangement for deflecting by its rotary shaft, and arrangement for deflecting is rotatably installed on pedestal by its rotating shaft of circling round, and gyro disk revolves round the sun under arrangement for deflecting drive around gyroaxis；Angle formed by the straight line where straight line and gyroaxis where rotary shaft is acute angle.The driving force needed for change gyro disk posture has been advantageously reduced, has reduced energy consumption.
Description
Technical field
Stabilization can be played the present invention relates to one kind and labour-saving control moment gyroscope system and there is this controling power
The mobile devices of square gyroscope system.
Background technology
Rigid body around a fulcrum high-speed rotation is referred to as gyro.Usually said gyro is generally referred to as symmetric top, is
Mass Distribution is uniform, the rigid body of symmetrical configuration, and symmetry axis is its axis of rotation.It is various made by the mechanical property of people's gyro
The gyroscopic apparatus of function is referred to as gyroscope.The installation position of the drive device of gyro is equipped with kinds of schemes：First, gyro disk is fixed on
On rotor, motor stator is fixed on pedestal or mounting bracket；Second, gyro disk is rotatably installed in pedestal or mounting bracket
On, motor is arranged on pedestal or mounting bracket, can be passed between motor and gyro disk by machine driving, magnetic drives and fluid
It is dynamic.
Mobile devices many now or plant equipment are without self-balancing or from steady ability, under external force easily
There is unstable state, thus stability contorting is carried out by installing gyroscope system.Wherein control moment gyroscope system is one
Inertia actuator of the kind with moment amplification characteristic, it has gyroscopic inertia and precession.Control moment gyroscope system can profit
Ensure the stability of mobile devices or plant equipment with gyroscopic inertia.By the posture for changing gyro in control moment gyroscope system
The posture of mobile devices or plant equipment can be changed.
In the prior art, the top that mobile devices can be by the arrangement for deflecting in it into change control moment gyroscope system
Spiral shell applies deflection torque, changes the direction of rotary shaft of gyro actively to destroy the original equilibrium state of mobile devices and then needs
New equilibrium state.But gyro deflects around by the axis at gyro center, although can most change the direction of the rotary shaft of gyro soon,
But need larger deflection driven transposition to provide larger deflection torque, the volume and weight of control moment gyroscope system with
Increase, increase the quality of mobile devices, exacerbate energy loss.When the impact suffered by fuselage is excessive, control moment top
Spiral shell instrument system can tilt with fuselage and topple and be difficult to recover, or need bigger energy to recover to original balance appearance
State.
The content of the invention
The first object of the present invention is the labour-saving control moment gyroscope system for providing a kind of stabilization.
The second object of the present invention is to provide a kind of traveling of labour-saving control moment gyroscope system with stable
Device.
To realize above-mentioned first purpose, the present invention carries a kind of for moment gyro instrument system processed, including gyro unit, driving
The arrangement for deflecting and pedestal of gyro unit deflection, gyro unit include gyro disk and drive the driving dress of gyro disc spins
Put.Gyro disk is rotatably installed on arrangement for deflecting by its rotary shaft, and arrangement for deflecting circles round rotating shaft rotatably by it
On pedestal, gyro disk revolves round the sun under arrangement for deflecting drive around gyroaxis；Straight line and gyroaxis place where rotary shaft
Straight line formed by angle be acute angle.
From above scheme, the gyro disk rotated at a high speed makes control moment gyroscope have enough moment of momentum, ensures
Its stability.When needing to change the posture of control moment gyroscope system, it is necessary to sufficiently large driving moment.The top of the present invention
Angle formed by the straight line where straight line and gyroaxis where the rotary shaft of spiral shell disk is acute angle, the wraparound under the drive of arrangement for deflecting
Rotating shaft is revolved round the sun, and is so effectively increased the driving torque arm length changed needed for gyro disk posture, is greatly reduced change gyro
Driving force needed for disk posture.The power demand and volume needs of deflection motor are effectively reduced, so as to be advantageous to reduce controling power
The volume of square gyroscope, mitigate weight, reduce energy consumption.
Further scheme is that the straight line where straight line and gyroaxis where rotary shaft forms acute angle, its span
Between 25 degree to 45 degree.Be advantageous to change using minimum power the posture of gyro disk.
Further scheme is that arrangement for deflecting includes outer framework, and outer framework is included close to the first framework of pedestal and away from base
Second framework of seat, the first framework are rotatably installed on pedestal, and the second framework is rotatably installed on the first framework；The
Buffer gear is provided between one framework and the second framework.
Further scheme is that buffering framework includes fastener, sliding block and elastomer；Sliding block has V-type crowning, the first frame
Frame has the V-type concave face corresponding with V-type crowning；Sliding block is fixed on the second framework, and fastener is fixed on the first framework
On, sliding block is rotatably connected by locating shaft with the first framework, and one end of elastomer abuts with fixture, elastomer it is another
End is abutted with sliding block, and V-type crowning is pressed to V-type concave face by elastomer.
From above scheme, the first framework and the second framework are connected with buffering, when stronger external force acts on
When on the pedestal of control moment gyroscope system, buffer gear can be by energy absorption caused by external shock power to elasticity
Body, discharged after impact to pedestal so that the controlled device of control moment gyroscope system returns to original state.Avoid excessive
External force makes control moment gyroscope system topple.
Further scheme is that outer framework also includes the 3rd framework and tilting drive；3rd framework passes through driving of verting
Device is rotatably installed on the second framework；Gyro disk is rotatably installed on the 3rd framework by rotary shaft.Thus may be used
See, control moment gyroscope has multiple anglecs of rotation so that gyro disk can vert along any angle.
Further scheme is device in being provided with back between arrangement for deflecting and pedestal.Arrangement for deflecting can be made to change gyroscope
Reset condition can be recovered after statokinetic rapidly；Buffering is provided for arrangement for deflecting and pedestal simultaneously, reduces impulsive force to controlling top
The influence of spiral shell instrument system.
Further scheme is that the straight line where gyroaxis and angle formed by the working face of pedestal are acute angle.
Preferably, angle formed by the working face of the straight line where gyroaxis and pedestal is between 3 degree to 15 degree.Thus may be used
See, working face refers to plane parallel with the normal plane in mobile devices direction on pedestal；The Plane of rotation for being advantageous to gyro disk tends to
In the normal plane of the short transverse of mobile devices, effectively mobile devices horizontal direction is improved using the gyroscopic inertia of control moment gyroscope
Stability.
Further scheme is that arrangement for deflecting includes deflection motor and above-mentioned outer framework, and arrangement for deflecting can be revolved by outer framework
Turn ground to be arranged on pedestal；Deflection motor is fixedly mounted on pedestal.
To realize the second purpose, the present invention provides a kind of stable and labour-saving mobile devices, including frame and installed in machine
Control moment gyroscope system on frame, control moment gyroscope system are any of the above-described control moment gyroscope system.Favorably
In the stability of enhancing mobile devices traveling, be advantageous to mobile devices and stablize traveling under severe conditions, while be advantageous to travel
Device changes its statokinetic, reduces energy consumption.
Brief description of the drawings
Fig. 1 is the stereogram of control moment gyroscope system embodiment；
Fig. 2 is the front view of control moment gyroscope system embodiment；
Fig. 3 is Fig. 1 A-A cut-away views；
Fig. 4 is enlarged drawing at Fig. 3 B；
Fig. 5 is enlarged drawing at Fig. 3 C；
Fig. 6 is the structural representation of second of return to neutral mechanism of control moment gyroscope system embodiment；
Fig. 7 is the structural representation of the third return to neutral mechanism of control moment gyroscope system embodiment；
Fig. 8 is the cut away view of mobile devices first embodiment；
Fig. 9 is the schematic top plan view of the control moment gyroscope system initial attitude of mobile devices second embodiment；
Figure 10 is the schematic top plan view of the control moment gyroscope system initial attitude of mobile devices 3rd embodiment.
Embodiment
With reference to specific embodiment and referring to the drawings the present invention will be described.
Control moment gyroscope system embodiment
As shown in figure 1, control moment gyroscope system 100 includes gyro unit 110, arrangement for deflecting 120 and pedestal 130.Top
Spiral shell instrument unit 120 includes gyro disk 111 and drives the drive device 115 of the rotation of gyro disk 111.It is symmetrically installed with pedestal 130
A pair of arrangements for deflecting 120 and gyro unit 110.
As shown in Fig. 2 arrangement for deflecting 120 includes outer framework 140 and deflection motor 150；Outer framework 140 is included close to pedestal 130
The first framework 141, away from pedestal 130 the second framework 142 and the 3rd framework 143.3rd framework 143 passes through the driving dress that verts
112 are put to be rotatably installed on the second framework 142.
As shown in figure 3, gyro disk 111 is rotatably mounted on the 3rd framework 143 by its rotary shaft 113, the second framework
142 are arranged on the first framework 141, and the first framework 141 is rotatably installed on pedestal 130 by gyroaxis 121.Vert position
Put sensor 114（Referring to Fig. 1）The tilt angle of gyro disk 111 is detected, is advantageous to improve the precision that gyro disk 111 verts.
Analyzed with reference to Fig. 1 to 3, the gyro disk 111 of rotation makes control moment gyroscope have enough moment of momentum at a high speed, protects
Demonstrate,prove its stability.When needing to change the posture of control moment gyroscope system 100, it is necessary to sufficiently large driving moment.This hair
Straight line where the rotary shaft 113 of bright gyro disk 111 and angle formed by the straight line where gyroaxis 121 are acute angle, are being deflected
Revolved round the sun under the drive of device 120 around gyroaxis 121, be so effectively increased the driving force changed needed for the posture of gyro disk 111
Arm lengths, greatly reduce the driving force changed needed for the posture of gyro disk 111.Effectively reduce the power demand of deflection motor 150
And volume needs, so as to be advantageous to reduce the volume of control moment gyroscope, mitigate weight, reduce energy consumption.
Straight line where rotary shaft 113 forms acute angle with the straight line where gyroaxis 121, and its span preferably exists
Between 25 degree to 45 degree.Be advantageous to change using minimum power the posture of gyro disk.
Straight line where gyroaxis 121 and angle formed by the working face of pedestal 130 are acute angle.Working face refers to pedestal
The plane parallel with the normal plane of mobile devices short transverse on 130, the work of straight line and pedestal 130 where gyroaxis 121 are put down
Angle formed by face is preferably between 3 degree to 15 degree.Be advantageous to the height for making the Plane of rotation of gyro disk 111 be intended to mobile devices
The working face of the normal plane in direction, i.e. pedestal 130, it is horizontal effectively to improve mobile devices using the gyroscopic inertia of control moment gyroscope
The stability in direction.
Deflection motor 150 is fixedly mounted on pedestal 130, and arrangement for deflecting 120 can be driven by belt wheel transmission around gyroaxis
121 rotate, and compact-sized, reliable operation, larger speed reducing ratio can be achieved, and are advantageous to using less deflection motor 150 to inclined
Rotary device 120 is driven.
Deflection motor 150 is not limited to be arranged on pedestal, and it can be also fixedly mounted on first framework 141.
First framework 141, pedestal 130 and deflection motor 150 are not limited to above connected mode.Deflection motor 150 includes peace
Dress seat and rotor, rotor are rotatably installed in mounting seat.The mounting seat of deflection motor 150 is fixed on the pedestal of pedestal 13,
Rotor is fixed on the first framework 141.
As shown in figure 4, in control moment gyroscope system 100, set between the first framework 141 and the second framework 142
There is buffer gear 200.Buffer gear 200 includes fastener 203, sliding block 204 and the spring 206 as elastomer.Sliding block 204 has
There is V-type crowning 208, the first framework 141 has the V-type concave face 209 corresponding with V-type crowning 208；Sliding block 204 is fixed
On the second framework 142, fastener 203 passes through bolt（It is not shown）It is fixed on the first framework 141, sliding block 204 passes through positioning
Axle 207 is rotatably connected with the first framework 141, and one end of spring 206 abuts with fixture 203, the other end of spring 206 with
Sliding block 204 is abutted, and V-type crowning 208 is pressed to V-type concave face 209 by spring 206.When stronger external force acts on control moment
When on the pedestal 130 of gyroscope system 100（Referring to Fig. 3）, buffer gear 200 can be by energy absorption caused by external shock power
To spring 206, elastic potential energy is discharged to pedestal 208 after impact so that the controlled device of control moment gyroscope system 100 is returned
To original state.Excessive external force is avoided control moment gyroscope system 100 is toppled.
As shown in figure 5, the first end as the spring 302 for returning elastic element is fixed on pedestal 130, its second end is consolidated
It is scheduled on belt wheel 303, end cap 301 and belt wheel 303 pass through bolt respectively（It is not shown）It is fixed on the first framework 141, the first frame
Pad 306 is provided between frame 141 and belt wheel 303.Steady pin 305 passes through spring 302 and the immovable fitting of pedestal 130.Spring 302
Serve as and return middle device between arrangement for deflecting 120 and pedestal 130, after arrangement for deflecting 120 can be made to change the statokinetic of gyroscope
Reset condition can be recovered rapidly；Buffering is provided for arrangement for deflecting 120 and pedestal 130 simultaneously, reduces impulsive force to controlling gyroscope
The influence of system 100.
Belt wheel 307 is arranged in the rotating shaft of deflection motor 150, and belt 308 connects belt wheel 307 and belt wheel 303, deflection motor
150 overcome the resistance of spring 302 to rotate by belt wheel 307 and belt 308 with movable belt pulley 303, and arrangement for deflecting 120 is with belt wheel 303
Rotate.Angle of revolution sensor is provided with the output shaft of deflection motor 150（Not shown in figure）, according to the defeated of deflection motor 150
Gearratio between the rotational angle and belt wheel 307 and belt wheel 303 of shaft can accurately obtain the angle of rotation of arrangement for deflecting 120
Degree.Optionally, angular transducer can also be arranged on the deflection angle that arrangement for deflecting 120 is directly detected on gyroaxis 121.
Return elastic element and be not limited to the elastic component that spring can also be other materials, can be by the elastic material such as plastics, rubber
Material is made.
As shown in fig. 6, it is preferably extension spring 47 to return elastic element.Device 400 includes the locating dowel fixed with pedestal in returning
42, the axle 48 being fixed on pedestal, cutting for being rotated around axle 48 and cuts arm 46 at arm 45.Cut arm 45 and to cut arm 46 each remotely located
Both ends of the one end of post 42 respectively with extension spring 47 are connected.Plate 41 is fixed on the first framework of arrangement for deflecting.When plate 41 around
Axle 48 along 01 direction rotate when, due to cut arm 45 be positioned post 42 stop can not be rotated along 01 direction, plate 41 drive cut arm 46
The pulling force of extension spring 47 is overcome to be rotated around axle 48 along 01 direction；When plate 41 loses the driving force rotated along 01 direction, arm 46 is cut
In being returned rapidly under the pulling force effect of extension spring 47.Plate 41 around axle 48 along 02 direction rotate and reset operation principle with it is foregoing
Operation principle is identical.Preferably, pedestal is also provided with limited post 43 and limited post 44, to prevent extension spring 47 from being drawn by transition
Stretch.
It can also be torsion spring to return elastic element, as shown in fig. 7, device 500 includes the axle 50 being fixed on pedestal in returning,
The first torsion spring 52 and the second torsion spring 53 installed around axle 50, the bearing pin 51 on the first framework of arrangement for deflecting.Baffle plate 54
It is fixed on baffle plate 55 on pedestal.When the first framework rotates around axle 50 along 03 direction, bearing pin 51 overcomes the bullet of the first torsion spring 52
Power is bent around axle 50 along 03 direction；When bearing pin 51 loses the driving force rotated along 03 direction, bearing pin 51 is together with the first framework the
Under the elastic force effect of one torsion spring 52 in rapid time.The operation principle and foregoing pin that bearing pin 51 is rotated and resetted along 04 direction around axle 50
Axle 51 rotates identical with the operation principle of reset around 03 direction.
Axle 40 and axle 50 can be served as by gyroaxis 304, and device 400 and time middle device 500 can be also used for serving as in returning
Buffer gear 200 described in Fig. 4.
It is not limited to that a pair of arrangements for deflecting 120 and gyro unit 110 are installed on pedestal 130, as shown in figure 8, control moment
One arrangement for deflecting 620 and gyro unit 610 can be also only installed on the pedestal 630 of gyroscope system 600.
Mobile devices first embodiment
Mobile devices include frame and rack-mounted control moment gyroscope system, and control moment gyroscope system is figure
Control moment gyroscope system shown in 8.One arrangement for deflecting is only installed on the pedestal 630 of control moment gyroscope system 600
620 and gyro unit 610.To the reaction force of the deflection torques of mobile devices away from and control moment gyroscope system 600 it is right
The control moment of mobile devices fuselage, resultant moment of the control moment gyroscope system 600 to fuselage is calculated, it is accurate according to resultant moment
The deflection of control moment gyroscope system really is controlled, improves the precision of mobile devices control.Be advantageous to strengthen mobile devices row
The stability sailed, be advantageous to mobile devices and stablize traveling under severe conditions, while be advantageous to mobile devices and change its balance appearance
State, reduce energy consumption.
Mobile devices second embodiment
Using control moment gyroscope system in Fig. 8 as subsystem.As shown in figure 9, the controling power on mobile devices 30
Square gyroscope system 20 includes four control moment gyroscope subsystems.Each control moment gyroscope subsystem includes top respectively
Spiral shell instrument unit 21, arrangement for deflecting 22, gyroaxis 23 and pedestal 24.Four control moment gyroscope subsystems are along mobile devices 30
Circumferentially it is uniformly distributed.Gyroaxis 23 is close to the circumferential centrally disposed of foregoing mobile devices 30.The top of gyro unit 21
When the plane that straight line where the rotary shaft of spiral shell disk is formed with the straight line where gyroaxis 23 is into cross distribution, gyro unit 21
In initial position, i.e. control moment gyroscope system 20 is in initial attitude.
When the gyro disk of the gyro unit 21 of relative control moment gyroscope subsystem rotates in same direction, adjacent control
, can be by adjacent control moment gyroscope subsystem when the gyro disk of the gyro unit 21 of moment gyro instrument subsystem rotates backward
The gyro unit 21 that the gyro unit 21 of system playbacks in one group, same group it is close to each other or away from when can be to mobile devices
30 output control torques are to resist interference of the external force to mobile devices 30.Such as by the gyroscope of control moment gyroscope subsystem 26
The gyro unit 21 of unit 21 and control moment gyroscope subsystem 28 is classified as first group, such as by control moment gyroscope subsystem
The gyro unit 21 of system 27 and the gyro unit 21 of control moment gyroscope subsystem 29 are classified as second group.When first group
The gyro unit 21 of control moment gyroscope subsystem 26 and the phase of gyro unit 21 of control moment gyroscope subsystem 28
When mutually close, the gyro unit 21 and control moment gyroscope subsystem 28 of first group of control moment gyroscope subsystem 26
Gyro unit 21 apply the control moment along direction 35 around center line 31 to mobile devices 30, when second group of controling power
The gyro unit 21 of square gyro subsystem 27 and the gyro unit 21 of control moment gyroscope subsystem 29 are located remotely from each other
When, the gyro unit 21 of second group of control moment gyroscope subsystem 27 and the gyro of control moment gyroscope subsystem 29
Instrument unit 21 applies the control moment along direction 35 around center line 31 to mobile devices 30.Conversely, when first group of controling power
The gyro unit 21 of square gyro subsystem 26 and the gyro unit 21 of control moment gyroscope subsystem 28 are located remotely from each other
When, the gyro unit 21 of first group of control moment gyroscope subsystem 26 and the gyro of control moment gyroscope subsystem 28
Instrument unit 21 applies the control moment along direction 36 around center line 31 to mobile devices 30, when second group of control-moment gyro
When the gyro unit 21 of instrument subsystem 27 and the gyro unit 21 of control moment gyroscope subsystem 29 close to each other, second
The gyro unit 21 of control moment gyroscope subsystem 27 and the gyro unit of control moment gyroscope subsystem 29 of group
21 apply the control moment along direction 36 around center line 31 to mobile devices 30.
When mobile devices 30 vert acceleration be located in less first preset range when, one group of gyro unit of control
21 it is close to each other or away from produce be used for stablize the gesture stability torque of mobile devices 30；When mobile devices 30 vert acceleration position
When in the second larger preset range, two groups of gyro unit 21 of control is distinguished close to each other or away from bigger to produce
Control moment is closed for stablizing the posture of mobile devices 30.
If by the gyro unit of control moment gyroscope subsystem 26 and the gyro of control moment gyroscope subsystem 27
Instrument unit is classified as the 3rd group, such as the gyro unit and control moment gyroscope subsystem 29 of control moment gyroscope subsystem 28
Gyro unit be classified as the 4th group, when every group of gyro unit closer or far from when can apply to mobile devices 30 in
The control moment of heart line 32.
As an improvement the pedestal 24 of four control moment gyroscope subsystems also can be by the pedestal generation of an one
Replace.
When the gyro disk of each gyro unit 21 rotates in same direction, positioned at the control moment gyroscope system of initial attitude
20 need not vert top compass machine unit 21 can also be mobile devices 25 very powerful stabilizing power be provided.
Mobile devices 3rd embodiment
The present embodiment is the arrangement of control moment gyroscope subsystem with the difference of mobile devices second embodiment.It will be controlled in Fig. 8
Moment gyro instrument system processed is as subsystem.As shown in Figure 10, the control moment gyroscope system 10 on mobile devices 5
Include four control moment gyroscope subsystems.Each control moment gyroscope subsystem includes gyro unit 1, deflection respectively
Device 2, gyroaxis 3 and pedestal 4.Control moment gyroscope subsystem 11 and control moment gyroscope subsystem 12 are on center line
6 is symmetrical, and control moment gyroscope subsystem 13 and control moment gyroscope subsystem 14 are symmetrical on center line 6,
The gyroaxis 3 of each control moment gyroscope subsystem is arranged close to center line 6.The rotary shaft of the gyro disk of gyro unit 1
For the plane that the straight line at place is formed with the straight line where gyroaxis 3 into when being parallel to each other, gyro unit 1 is in initial position,
I.e. control moment gyroscope system 10 is in initial attitude.
Obviously, using the control moment gyroscope system shown in Fig. 2 as subsystem, may be respectively used for replacing shown in Figure 10
The control moment gyroscope subsystem 11 being symmetrically installed and control moment gyroscope subsystem 12, the control moment being symmetrically installed
Gyro subsystem 13 and control moment gyroscope subsystem 14.
The mobile devices of the present invention cover the device that aircraft, car, ship etc. can travel.Wherein, aircraft includes ground effect
Aircraft, Multi-axis aircraft, Fixed Wing AirVehicle airborne vehicle even outside ground.When the control moment gyroscope system weight of the present invention
It is relatively light, when it is provided on wechat or other spacecrafts, launch cost can be saved.Due to the control moment top of the present invention
Spiral shell instrument system realizes the posture changing of gyro disk using less driving moment, can make control moment gyroscope system to traveling
The more relatively slow fine and smooth control moment of device exporting change, the satellite or other spacecrafts for being easy to outer over the ground realize accurate appearance
State controls.Ship includes the ship of surface navigation and the submarine of underwater navigation.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to is assert
The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
Some equivalent substitutes or obvious modification are made on the premise of not departing from present inventive concept, and performance or purposes are identical, all should
It is considered as belonging to the scope of patent protection that the present invention is determined by the claims submitted.
Claims (10)
1. control moment gyroscope system, including gyro unit, the arrangement for deflecting and base of the driving gyro unit deflection
Seat, the gyro unit include gyro disk and drive the drive device of the gyro disc spins, it is characterised in that：
The gyro disk is rotatably installed on the arrangement for deflecting by its rotary shaft, and the arrangement for deflecting is circled round by it
Rotating shaft is rotatably installed on the pedestal, and the gyro disk revolves round the sun under arrangement for deflecting drive around the gyroaxis；
Straight line where the rotary shaft and angle formed by the straight line where the gyroaxis are acute angle.
2. control moment gyroscope system according to claim 1, it is characterised in that：
Between 25 degree to 45 degree of the scope of the acute angle.
3. control moment gyroscope system according to claim 1, it is characterised in that：
The arrangement for deflecting includes outer framework, and the outer framework is included close to the first framework of the pedestal and away from the pedestal
The second framework, first framework is rotatably installed on the pedestal, and second framework is rotatably installed in institute
State on the first framework；
Buffer gear is provided between first framework and second framework.
4. control moment gyroscope system according to claim 3, it is characterised in that：
The buffer gear includes fastener, sliding block and elastomer；
The sliding block has V-type crowning, and first framework has the V-type concave face corresponding with the V-type crowning；
The sliding block is fixed on second framework, and the fastener is fixed on first framework, and the sliding block passes through
Locating shaft is rotatably connected with first framework, and one end of the elastomer abuts with the fixture, the elastomer
The other end abutted with the sliding block, the V-type crowning is pressed to the V-type concave face by the elastomer.
5. control moment gyroscope system according to claim 3, it is characterised in that：
The outer framework also includes the 3rd framework and tilting drive；
3rd framework is rotatably installed on second framework by the tilting drive；
The gyro disk is rotatably installed on the 3rd framework by rotary shaft.
6. control moment gyroscope system according to claim 1, it is characterised in that：
Device in being provided with back between the arrangement for deflecting and the pedestal.
7. control moment gyroscope system according to claim 1, it is characterised in that：
Straight line where the gyroaxis and angle formed by the working face of the pedestal are acute angle.
8. control moment gyroscope system according to claim 1, it is characterised in that：
Straight line where the gyroaxis and angle formed by the working face of the pedestal are between 3 degree to 15 degree.
9. according to any control moment gyroscope system of claim 1 to 8, it is characterised in that：
The arrangement for deflecting includes deflection motor and above-mentioned outer framework, and the arrangement for deflecting is rotatably pacified by the outer framework
On the pedestal；
The deflection motor is fixedly mounted on the pedestal.
10. mobile devices, including frame and the control moment gyroscope system in the frame, the control moment top
Spiral shell instrument system is any control moment gyroscope system of claim 1 to 9.
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| CN1076419A (en) * | 1991-09-06 | 1993-09-22 | 德国航空航天有限公司 | The test equipment and the application thereof of satellite attitude control |
| CN1119270A (en) * | 1994-09-20 | 1996-03-27 | 阿尔卑斯电气株式会社 | Vibratory gyroscope |
| CN103604562A (en) * | 2013-11-05 | 2014-02-26 | 中国科学院西安光学精密机械研究所 | Device for testing rotational inertia of two-dimensional rotation mechanism and complex parts of two-dimensional rotation mechanism and method thereof |
| CN103603916A (en) * | 2013-11-06 | 2014-02-26 | 清华大学 | Control moment gyroscope vibration-isolating unit |
| CN104176277A (en) * | 2014-08-06 | 2014-12-03 | 北京航空航天大学 | Four-free degree double-frame magnetically suspended control moment gyro |
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