CN107515631A - A kind of single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors - Google Patents
A kind of single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors Download PDFInfo
- Publication number
- CN107515631A CN107515631A CN201710700282.XA CN201710700282A CN107515631A CN 107515631 A CN107515631 A CN 107515631A CN 201710700282 A CN201710700282 A CN 201710700282A CN 107515631 A CN107515631 A CN 107515631A
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- speed
- low speed
- driven
- framework
- gyro
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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
Abstract
The invention discloses a kind of single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors, the gyro is to realize compact high precision by Driven by Ultrasonic Motors, height response variable speed control moment gyro, particularly a kind of single-gimbal control momentum gyro that torque-variable can be accurately exported with superelevation, belongs to control-moment gyro technical field；It includes high-speed assembly, connecting bracket, slip ring assembly, low-speed component.High-speed assembly provides the rotary inertia needed for angular momentum, and provides electric power support and speed controling signal by slip ring assembly for it.By the present invention in that with high accuracy, the ultrasound electric machine of height response, small product size is small, in light weight, and control accuracy is high, and response is fast.It is particularly suitable for accurately controlling the posture of small-sized spacecraft and fast reserve.
Description
Technical field
The invention belongs to the space flight executing agency that a kind of Spatial kinematics realize fast reserve task, and in particular to a kind of
It disclosure satisfy that the ultrasound electric machine control-moment gyro of satellite force environmental test condition.
Technical background
Control-moment gyro has the advantages that output torque is big, low in energy consumption, is that Spatial kinematics realize that fast reserve is appointed
The preferable space flight executing agency of business.It is divided into single frame, two frameworks and three framework control-moment gyros from structure type.
The advantages of ultrasound electric machine control-moment gyro is control accuracy height, and response is fast, substantially without delay, it is simple in construction can
Lean on, in light weight, the characteristic such as band self-locking.Momenttum wheel is integrated with high-speed electric expreess locomotive, compact-sized, and reliability is high.Ultrasound electric machine has
Simple in construction, small-size light-weight, fast response time, noise is low, low speed high torque, control feature is good, cuts off self-lock, is not done by magnetic field
Disturb, move the advantages that accurate, also there is the characteristics of low temperature resistant, vacuum etc. adapts to space environment in addition.Light weight is primarily due to, it is low
Speed and big torque without additional gear iso-variable velocity structure, avoid using gear shift and caused vibrations, impact with
A series of problems, such as noise, poor efficiency, difficult control；Secondly it breaches the concepts of conventional motors, without electromagnetism winding and magnetic circuit,
Carry out transfer capability without electromagnetic interaction, but using the inverse piezoelectric effect of piezoelectric ceramics, ultrasonic vibration and friction coupling come
Change energy.It is achieved thereby that quiet, stably, high position precision, not by electromagnetic interference the features such as.It is relative with Traditional control torque
Gyro, weight saving can be that the spacecraft of an inch of land is an inch of gold wins the mass space of equipment other equipment；High-resolution can allow
Spacecraft realizes clearly earth observation；It is high-precision then for spacecraft be aligned observed object provide Reliable guarantee；Fast-response makes
Obtain spacecraft and be able to fast reserve, avoid missing written in water moment, win the observation time to target；Raising simple in construction
Reliability.Under written in water battlefield surroundings, only high response, high-resolution, high accuracy positioning cooperate realize space flight
The fast reserve of device, fast positioning, rapid detection target, there is great national defence meaning.
And general control moment gyro needs individually designed self-locking device, reducing gear etc., cause total quality big, structure is multiple
It is miscellaneous, simultaneously because Serve Motor Control precision is low, low-response, aerospace field can not be adapted to high accuracy, height response, weight
Gently, demand simple and reliable for structure.
The content of the invention：
It is an object of the invention to overcome above-mentioned technological deficiency, there is provided a kind of precision is high, compact-sized, electromagnetism interference energy
The strong ultrasound electric machine control-moment gyro of power, the control-moment gyro disclosure satisfy that the needs of small space motor platform.
Realize technical scheme：A kind of ultrasound electric machine control-moment gyro, it includes high-speed assembly, and matrix is low
Fast component, wherein, low-speed component is controlled by Driven by Ultrasonic Motors.
The high-speed assembly is provided with momenttum wheel containment vessel, is fixedly arranged at by bolt on low speed framework.Momenttum wheel and electricity at a high speed
The stator of high-speed electric expreess locomotive and low speed framework, are connected by machine one by bolt.
The low speed framework is provided with reinforcement, and reinforcement is located at the part being connected with high-speed assembly.
The low-speed component provides driving and control signal by slip ring for high-speed assembly.
The low-speed component is provided with A, B two bearings, and A, B two bearings outer ring and middle matrix phase connect.
The low-speed component is connected with photoelectric encoder rotor portion, and photoelectric encoder stationary part passes through thin plate and centre
Matrix is connected, meanwhile, thin plate is pushed down B axle and held.
The high-speed assembly includes momenttum wheel and its high-speed electric expreess locomotive.
The low-speed component includes momenttum wheel containment vessel, low speed framework.
The ultrasound electric machine connects through spline-groove with low speed framework and coordinated.
The middle matrix is positioned with pedestal by locating slot, bolt connection.
It is micro- interference fit that the bearing is connected with low speed framework.
By positioning finger setting, bolt connection when the ultrasound electric machine is connected with pedestal.
The low speed framework and middle matrix are provided with labyrinth ring.
The low speed framework includes high-speed assembly pedestal, and low speed rotating shaft, low speed frame structure is in one.
The moment gyro is integrally divided into three stage structure：Upper part high-speed assembly, high-speed assembly pedestal, low speed framework
Platform, low speed rotating shaft；Center section includes A, B axle is held, photoelectric encoder, middle matrix, bearing spacer sleeve；Lower part includes
Ultrasound electric machine, slip ring, pedestal and bottom plate, driving plate.
Beneficial effect of the present invention is：(1) invention uses ultrasound electric machine control-moment gyro, so as to remove reductor
The complex mechanisms such as structure, self-locking mechanism, while the response speed and precision of control-moment gyro is improved, also done with anti-electromagnetism
The ability disturbed.(2) invention is integrated with high speed rotor of motor by momenttum wheel, by high-speed assembly pedestal, low speed framework, low speed rotating shaft
Integration, simple and reliable for structure, clamped one time machine-shaping, it is easy to improve parts quality, axiality is high.(3) low speed framework
Platform makes the circular and labyrinth ring between middle matrix, is easy to seal dust.Overall structure is divided into three-stage design, just
In installation duplex bearing, abatement vibrations and raising control accuracy, and install, it is easy to maintenance.(4) matrix is provided with fixed with pedestal among
Position groove, for spacing, both improves installation accuracy, turn avoid the relative slip of middle matrix and pedestal.Ultrasound electric machine and base
Seat is connected with alignment pin, ensures installation accuracy.Drive circuit is located at pedestal intracavitary simultaneously, compact-sized, while also protects
Driving plate.
Brief description of the drawings：
Fig. 1 is the rearview of the present invention；
Fig. 2 is the lateral plan of the present invention；
Fig. 3 is the internal structure view of the present invention；
Fig. 4 is the front view of the present invention；
Fig. 5 is the side view of the present invention.
Specific implementation method：
With reference to the accompanying drawings and detailed description, the invention will be further described.
A kind of single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors provided by the invention, as shown in figure 5, including
The high-speed assembly being made up of momenttum wheel 1 and high-speed electric expreess locomotive 2, the high-speed electric expreess locomotive 2 are arranged on outside momenttum wheel 1；The gyro is also
Including the low-speed component being made up of momenttum wheel protective housing 3, low speed framework 4, slip ring 9, the protective housing 3 is arranged on high-speed set
Outside part, its bottom is connected with the low speed framework 4, is provided with hollow chamber in the low speed framework 4, is set in the middle part of hollow chamber
There is low speed rotating shaft, slip ring 9 is provided with the bottom of the low speed rotating shaft；
The gyro also includes the fixation kit being made up of middle matrix 6, angular encoder 7, ultrasound electric machine 8, pedestal 10；
The middle matrix 6, angular encoder 7, ultrasound electric machine 8 are sleeved in low speed rotating shaft successively from top to bottom.
Specifically, high-speed assembly is connected on high-speed electric expreess locomotive 2 by momenttum wheel 1 forms or by momenttum wheel 2 as electricity at a high speed
The outer rotor of machine 1, it is integrally formed formula high-speed assembly；The stationary part of high-speed assembly is connected by bolt with low speed framework 4.
As the improvements of the present invention, in order to increase the intensity of high-speed assembly, gyro is also provided with reinforcement 11, described
Reinforcement 11 is arranged on the back side of the protective housing 3, vertically-mounted, and affixed with the low speed framework 4.
Low-speed component part is specifically：The rotor portion of low speed framework 4 and angular encoder 7 is connected, and low speed framework 4 is with surpassing
The stationary part of acoustic-electric machine 8 is connected, and the stationary part of angular encoder 7 and middle matrix 6 are connected, middle matrix 6 and pedestal 10
It is connected；The stationary part of ultrasound electric machine 8 is connected with 10 pedestals.
The rotor portion of the slip ring 9 is connected with low speed framework 4；The table top upper surface of low speed framework 4 is machined with aperture
14。
Circuit interface 13 is provided with the side of the pedestal 10.
The middle matrix 6 and the junction of low speed rotating shaft are provided with bearing, and the bearing is divided into two layers.The outer ring of A bearings,
The outer ring that B axle holds 15 is connected.The low speed rotating shaft 12 of low speed framework 4 and the inner ring of A bearings 5, the inner ring that B axle holds 15 are connected.
As shown in figure 1, low speed framework of the present invention is made using two reinforcements, high-speed assembly pedestal is strengthened and low speed shaft is consolidated
Even.
As shown in Fig. 2 the present invention is connected using momenttum wheel containment vessel with high-speed assembly pedestal protects high-speed assembly.It is and high
Fast package base, low-speed component, low speed framework and reinforcement use Integral design, simple in construction, and reliability is high.
As shown in figure 3, high-speed assembly of the present invention is reliable using momenttum wheel and outer rotor high-speed electric expreess locomotive integrated design, structure
Degree is high；The high-speed electric expreess locomotive stationary part of high-speed assembly is connected with the high-speed assembly base part of low speed framework；High-speed assembly pedestal,
Low speed framework, low speed shaft are the integrated design, and high-speed assembly includes momenttum wheel and its high-speed electric expreess locomotive.The driving control of high-speed electric expreess locomotive
Circuit processed is connected via low speed shaft and the axle center hole of low speed framework, slip ring with external circuit；Designed on the whole using three-stage,
Upper part high-speed assembly, high-speed assembly pedestal, low speed framework platform, low speed rotating shaft；Center section includes A, B axle is held, photoelectricity
Encoder, middle matrix, bearing spacer sleeve；Lower part includes ultrasound electric machine, slip ring, pedestal and bottom plate, driving plate.Low speed group
Part is provided with A, B two bearings, and A, B two bearings outer ring and middle matrix phase connect.Low-speed component is consolidated with photoelectric encoder rotor portion
Even, photoelectric encoder stationary part is connected by thin plate and middle matrix, meanwhile, thin plate is pushed down B axle and held.Ultrasound electric machine and low speed
Framework connects through spline-groove and coordinated；Middle matrix is positioned with pedestal by locating slot, bolt connection；Bearing and low speed framework
Connection is micro- interference fit；By positioning finger setting, bolt connection when ultrasound electric machine is connected with pedestal；Low speed framework and intermediate base
Body is provided with labyrinth ring.
Under control-moment gyro pattern, driven by control circuit by high speed rotor of motor, bearing assembly and flywheel
The high-speed assembly of composition, so as to produce the angular momentum needed for control-moment gyro.It is accurate by the ultrasound electric machine in low-speed component
The rotary speed of angular momentum is controlled, so as to realize the size and Orientation of accurate control output torque；Under momenttum wheel pattern, pass through
The rotation speed change for the high-speed assembly that control circuit drive control is made up of high speed rotor of motor, bearing assembly and flywheel, changes
High-speed assembly momentum, so as to export the torque along rotor axial.
Concrete application approach of the present invention is a lot, and described above is only the preferred embodiment of the present invention, it is noted that for
For those skilled in the art, under the premise without departing from the principles of the invention, some improvement can also be made, such as
Without using integral type low speed framework etc., these improvement also should be regarded as protection scope of the present invention.
Claims (7)
- A kind of 1. single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors, it is characterised in that：The gyro is included by moving The high-speed assembly of amount wheel (1) and high-speed electric expreess locomotive (2) composition, it is outside that the high-speed electric expreess locomotive (2) is arranged on momenttum wheel (1)；The top Spiral shell also includes the low-speed component being made up of momenttum wheel protective housing (3), low speed framework (4), slip ring (9), the protective housing (3) Outside high-speed assembly, its bottom is connected with the low speed framework (4), and hollow chamber is provided with the low speed framework (4), Low speed rotating shaft is provided with the middle part of hollow chamber, slip ring (9) is provided with the bottom of the low speed rotating shaft；The gyro also includes in Between matrix (6), angular encoder (7), ultrasound electric machine (8), pedestal (10) composition fixation kit；The middle matrix (6), angle Degree encoder (7), ultrasound electric machine (8) are sleeved in low speed rotating shaft successively from top to bottom.
- 2. a kind of single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors according to claim 1, its feature exist In：High-speed assembly is connected to by momenttum wheel (1) to be formed on high-speed electric expreess locomotive (2) or by momenttum wheel (2) as the outer of high-speed electric expreess locomotive (1) Rotor, it is integrally formed formula high-speed assembly.
- 3. a kind of single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors according to claim 1 or 2, its feature It is：The stationary part of the high-speed assembly is connected by bolt with low speed framework (4).
- 4. a kind of single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors according to claim 1, its feature exist In：The gyro also includes reinforcement (11), and the reinforcement (11) is arranged on the back side of the protective housing (3), vertical peace Dress, and it is affixed with the low speed framework (4).
- 5. a kind of single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors according to claim 1, its feature exist In：The low speed framework (4) and the rotor portion of angular encoder (7) are connected, and low speed framework (4) is determined with ultrasound electric machine (8) Subdivision is connected, and the stationary part and middle matrix (6) of angular encoder (7) are connected, and middle matrix (6) is solid with pedestal (10) Even；Ultrasound electric machine (8) stationary part is connected with (10) pedestal.
- 6. a kind of single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors according to claim 1, its feature exist In：The rotor portion of the slip ring (9) is connected with low speed framework (4), and low speed framework (4) upper surface is machined with aperture (14)。A kind of single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors according to claim 1, its feature are： Circuit interface (13) is provided with the outer surface of the pedestal (10).
- 7. a kind of single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors according to claim 1, its feature exist In：The middle matrix (6) and the junction of low speed rotating shaft are provided with bearing, and the bearing is divided into two layers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710700282.XA CN107515631A (en) | 2017-08-16 | 2017-08-16 | A kind of single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710700282.XA CN107515631A (en) | 2017-08-16 | 2017-08-16 | A kind of single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors |
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| Publication Number | Publication Date |
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| CN107515631A true CN107515631A (en) | 2017-12-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710700282.XA Pending CN107515631A (en) | 2017-08-16 | 2017-08-16 | A kind of single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors |
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| Country | Link |
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| CN (1) | CN107515631A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108562285A (en) * | 2018-05-28 | 2018-09-21 | 南京航空航天大学 | A kind of control-moment gyro driven by parallel linear type ultrasound motor |
| CN110963083A (en) * | 2019-11-21 | 2020-04-07 | 南京航空航天大学 | Small-sized frame type control moment gyro driven by double-stator ultrasonic motor |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201688846U (en) * | 2010-04-09 | 2010-12-29 | 北京控制工程研究所 | Cantilever control moment gyro |
| CN102901492A (en) * | 2012-09-29 | 2013-01-30 | 北京控制工程研究所 | Electromechanical small-sized variable speed control moment gyro |
| CN104075700A (en) * | 2014-06-26 | 2014-10-01 | 北京控制工程研究所 | Small-size speed change control moment gyroscope |
| CN207611292U (en) * | 2017-08-16 | 2018-07-13 | 南京航空航天大学 | A kind of single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors |
-
2017
- 2017-08-16 CN CN201710700282.XA patent/CN107515631A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201688846U (en) * | 2010-04-09 | 2010-12-29 | 北京控制工程研究所 | Cantilever control moment gyro |
| CN102901492A (en) * | 2012-09-29 | 2013-01-30 | 北京控制工程研究所 | Electromechanical small-sized variable speed control moment gyro |
| CN104075700A (en) * | 2014-06-26 | 2014-10-01 | 北京控制工程研究所 | Small-size speed change control moment gyroscope |
| CN207611292U (en) * | 2017-08-16 | 2018-07-13 | 南京航空航天大学 | A kind of single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108562285A (en) * | 2018-05-28 | 2018-09-21 | 南京航空航天大学 | A kind of control-moment gyro driven by parallel linear type ultrasound motor |
| CN110963083A (en) * | 2019-11-21 | 2020-04-07 | 南京航空航天大学 | Small-sized frame type control moment gyro driven by double-stator ultrasonic motor |
| CN110963083B (en) * | 2019-11-21 | 2021-12-21 | 南京航空航天大学 | Small-sized frame type control moment gyro driven by double-stator ultrasonic motor |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171226 |