CN107608369B - Modularized inertia momentum wheel device for spacecraft attitude control experiment - Google Patents
Modularized inertia momentum wheel device for spacecraft attitude control experiment Download PDFInfo
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- CN107608369B CN107608369B CN201710993866.0A CN201710993866A CN107608369B CN 107608369 B CN107608369 B CN 107608369B CN 201710993866 A CN201710993866 A CN 201710993866A CN 107608369 B CN107608369 B CN 107608369B
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Abstract
A modularized inertia momentum wheel device for spacecraft attitude control experiments comprises a shell, a support, a flywheel rotor, a rotating shaft, a driving motor, a coupler, an upper flange, a lower flange, a first bearing and a second bearing; the shell adopts a bottomless cylindrical structure, and a first bearing mounting hole is formed in the top of the shell; the support adopts a three-stage stepped cylinder structure, and three-stage stepped holes are formed in the support, and are a motor mounting hole, a coupling mounting hole and a second bearing mounting hole in sequence; the flywheel rotor adopts a bottomless cylindrical structure, and a rotating shaft penetrating hole is formed in the top of the flywheel rotor; two ends of the rotating shaft are fixedly arranged in the first and second bearing mounting holes through the first and second bearings respectively; the flywheel rotor is fixedly arranged on the rotating shaft through the rotating shaft penetrating hole; a motor shaft of the driving motor is connected with the rotating shaft through a coupler; the upper flange is fixedly connected to the top of the shell; the lower flange is fixedly connected to the bottom of the support, the lower flange is assembled with the motor mounting hole in an inserting way through a cylindrical positioning boss on the surface, and a motor lead-out hole is formed in the lower flange.
Description
Technical Field
The invention belongs to the technical field of spacecraft attitude control experiments, and particularly relates to a modularized inertia momentum wheel device for spacecraft attitude control experiments.
Background
The spacecraft attitude control experiment is one of extremely important experiments in spacecraft engineering, the spacecraft attitude control platform is important equipment for spacecraft attitude control experiments, the price of the spacecraft attitude control platform which can be purchased in the market at present is very high and can even reach millions of RMB, the core component of the expensive equipment comprises an inertial momentum wheel device, but the inertial momentum wheel device is arranged in the spacecraft attitude control platform in a highly integrated mode and can not be detached and replaced by itself, the reconstruction of the spacecraft attitude control platform is severely limited, the maintenance cost of the spacecraft attitude control platform is high, and teaching and scientific research work is difficult to develop through the existing spacecraft attitude control platform for some universities and scientific research institutions.
Therefore, a brand new inertial momentum wheel device is necessary to be designed, so that universities and scientific research institutions can automatically and rapidly build the attitude control platform of the spacecraft according to actual needs, the building cost and maintenance cost of the attitude control platform of the spacecraft can be greatly reduced, and corresponding teaching and scientific research work can be carried out through the automatically built attitude control platform of the spacecraft.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides the modularized inertia momentum wheel device for the spacecraft attitude control experiment, so that universities and scientific research institutions can automatically and rapidly build the spacecraft attitude control platform according to actual needs, the building cost and maintenance cost of the spacecraft attitude control platform can be greatly reduced, and corresponding teaching and scientific research work can be carried out through the automatically built spacecraft attitude control platform.
In order to achieve the above purpose, the present invention adopts the following technical scheme: a modularized inertia momentum wheel device for spacecraft attitude control experiments comprises a shell, a support, a flywheel rotor, a rotating shaft, a driving motor, a coupler, an upper flange, a lower flange, a first bearing and a second bearing; the shell adopts a bottomless cylindrical structure, and a first bearing mounting hole is formed in the top of the shell; the support adopts a three-stage stepped cylinder structure, three-stage stepped holes are formed in the support, and a motor mounting hole, a coupling mounting hole and a second bearing mounting hole are formed in sequence from bottom to top; the flywheel rotor adopts a bottomless cylindrical structure, and a rotating shaft penetrating hole is formed in the top of the flywheel rotor; the top end of the rotating shaft is fixedly provided with a first bearing, and the first bearing is fixedly arranged in a first bearing mounting hole; the second bearing is fixedly arranged at the bottom end of the rotating shaft and fixedly arranged in the second bearing mounting hole; the flywheel rotor is fixedly arranged on the rotating shaft through the rotating shaft penetrating hole; the driving motor is fixedly arranged in the motor mounting hole, the coupler is positioned in the coupler mounting hole, and a motor shaft of the driving motor is connected with the bottom end of the rotating shaft through the coupler; the upper flange is fixedly connected to the top of the shell through bolts; the lower flange is fixedly connected to the bottom of the support through bolts, a cylindrical positioning boss is arranged on the upper surface of the lower flange, the cylindrical positioning boss is assembled with the motor mounting hole in an inserting mode, and a motor lead-out hole is formed in the lower flange on the side of the cylindrical positioning boss.
An inner-layer coupler observation hole is formed in the support cylinder wall corresponding to the coupler installation hole, and an outer-layer coupler observation hole is formed in the flywheel rotor cylinder wall outside the inner-layer coupler observation hole.
The inner diameter of the shell is 8-10 mm larger than the outer diameter of the flywheel rotor, the wall thickness of the shell is 4-5 mm, and the outer diameter of the shell is equal to the outer diameter of the upper flange and the outer diameter of the lower flange; the axial length of the cylindrical positioning boss is 2-3 mm.
The outer diameter of the first-stage step at the bottom of the support is equal to the outer diameter of the shell, and the axial length of the first-stage step at the bottom of the support is 5-6 mm; the outer diameter of the first-stage step in the middle of the support is equal to the inner diameter of the shell, and the axial length of the first-stage step in the middle of the support is 10-15 mm; the outer diameter of the first-stage step at the top of the support is 8-10 mm smaller than the inner diameter of the flywheel rotor.
The diameter of the motor mounting hole is 1 mm-2 mm larger than the maximum radial dimension of the driving motor, and the axial length of the motor mounting hole is 5 mm-6 mm longer than the length of the driving motor body; the coupler mounting hole is 10 mm-20 mm larger than the maximum radial dimension of the coupler.
The wall thickness of the top end of the flywheel rotor is 10-20 mm, the circumferential wall thickness of the flywheel rotor is 10-20 mm, and the axial length of the flywheel rotor is 10-150 mm; the diameter of the bearing mounting section of the rotating shaft is 3 mm-5 mm larger than that of the coupler mounting section.
The driving motor adopts a brushless direct current motor or a permanent magnet synchronous motor, the rated power of the driving motor is 30W-90W, the rated voltage of the driving motor is 24V-36V, and the rated rotating speed of the driving motor is 2500 r/min-3600 r/min.
The first bearing and the second bearing are both angular contact bearings, and the specific model of the angular contact bearings is selected according to the diameter of the bearing mounting section of the rotating shaft; the specific model of the coupler is selected according to the diameter of the coupler mounting section of the rotating shaft and the diameter of the motor shaft of the driving motor; the shell, the support, the upper flange and the lower flange are all made of light alloy materials, and the flywheel rotor and the rotating shaft are all made of 45# steel or stainless steel.
Assuming that the axial length of the flywheel rotor is h, the value of h is analyzed according to the formula (a), wherein the formula (a) is as follows:
wherein J is the total rotational inertia of the flywheel rotor, J 1 For moment of inertia of the top part of the flywheel rotor, J 1 The rotational inertia of the circumferential part of the flywheel rotor is ρ, the material density of the flywheel rotor is R, the outer circumference radius of the flywheel rotor is R, the inner circumference radius of the flywheel rotor is R, delta, the top end wall thickness of the flywheel rotor is δ, and h is the axial length of the flywheel rotor.
Assuming that the minimum diameter of the rotating shaft is d, calculating the value of d according to the formula (b), wherein the formula (b) is as follows:
wherein d is the minimum diameter of the rotating shaft, A 0 The power transmitted by the rotating shaft is determined by the material property of the rotating shaft and is obtained by consulting a mechanical design manual, wherein P is the power transmitted by the rotating shaft; n is the rotating speed of the rotating shaft.
The invention has the beneficial effects that:
compared with the prior art, the invention enables universities and scientific research institutions to automatically and rapidly build the attitude control platform of the spacecraft according to actual needs, greatly reduces the building cost and maintenance cost of the attitude control platform of the spacecraft, and further can develop corresponding teaching and scientific research work through the automatically built attitude control platform of the spacecraft. Meanwhile, the built spacecraft attitude control platform can be disassembled and reconstructed, and as the inertial momentum wheel device adopts a modularized design scheme, all components in the inertial momentum wheel device can be replaced, so that the expansibility of the inertial momentum wheel device is effectively improved.
Drawings
FIG. 1 is a schematic diagram of a modular inertial momentum wheel device for spacecraft attitude control experiments according to the present invention;
FIG. 2 is a schematic view of a housing structure according to the present invention;
FIG. 3 is a schematic view of a support structure according to the present invention;
FIG. 4 is a schematic view of the assembled flywheel rotor and shaft according to the present invention;
FIG. 5 is a schematic view of the lower flange structure of the present invention;
in the figure, 1-shell, 2-support, 3-, 4-rotating shaft, 5-driving motor, 6-coupler, 7-upper flange, 8-lower flange, 9-first bearing, 10-second bearing, 11-first bearing mounting hole, 12-motor mounting hole, 13-coupler mounting hole, 14-second bearing mounting hole, 15-rotating shaft penetrating hole, 16-cylindrical positioning boss, 17-motor lead leading-out hole, 18-inner layer coupler observation hole and 19-outer layer coupler observation hole.
Detailed Description
The invention will now be described in further detail with reference to the drawings and to specific examples.
As shown in fig. 1 to 5, a modularized inertia momentum wheel device for spacecraft attitude control experiments comprises a shell 1, a support 2, a flywheel rotor 3, a rotating shaft 4, a driving motor 5, a coupler 6, an upper flange 7, a lower flange 8, a first bearing 9 and a second bearing 10; the shell 1 adopts a bottomless cylindrical structure, and a first bearing mounting hole 11 is formed in the top of the shell 1; the support 2 adopts a three-stage stepped cylinder structure, three-stage stepped holes are formed in the support 2, and a motor mounting hole 12, a coupling mounting hole 13 and a second bearing mounting hole 14 are formed in sequence from bottom to top; the flywheel rotor 3 adopts a bottomless cylindrical structure, and a rotating shaft penetrating hole 15 is formed in the top of the flywheel rotor 3; the top end of the rotating shaft 4 is fixedly provided with a first bearing 9, and the first bearing 9 is fixedly arranged in a first bearing mounting hole 11; the bottom end of the rotating shaft 4 is fixedly provided with a second bearing 10, and the second bearing 10 is fixedly arranged in a second bearing mounting hole 14; the flywheel rotor 3 is fixedly arranged on the rotating shaft 4 through a rotating shaft penetrating hole 15; the driving motor 5 is fixedly arranged in the motor mounting hole 12, the coupler 6 is positioned in the coupler mounting hole 13, and a motor shaft of the driving motor 5 is connected with the bottom end of the rotating shaft 4 through the coupler 6; the upper flange 7 is fixedly connected to the top of the shell 1 through bolts; the lower flange 8 is fixedly connected to the bottom of the support 2 through bolts, a cylindrical positioning boss 16 is arranged on the upper surface of the lower flange 8, the cylindrical positioning boss 16 is assembled with the motor mounting hole 12 in an inserting mode, and a motor lead-out hole 17 is formed in the lower flange 8 on the side of the cylindrical positioning boss 16.
An inner-layer coupler observation hole 18 is formed in the wall of the support 2 corresponding to the coupler installation hole 13, and an outer-layer coupler observation hole 19 is formed in the wall of the flywheel rotor 3 outside the inner-layer coupler observation hole 18. In this embodiment, the inner-layer coupling observation holes 18 are four and uniformly distributed, and the outer-layer coupling observation holes 19 are two and symmetrically distributed.
The inner diameter of the shell 1 is 8-10 mm larger than the outer diameter of the flywheel rotor 3, the wall thickness of the shell 1 is 4-5 mm, and the outer diameter of the shell 1 is equal to the outer diameter of the upper flange 7 and the outer diameter of the lower flange 8; the axial length of the cylindrical positioning boss 16 is 2 mm-3 mm.
The outer diameter of the first-stage step at the bottom of the support 2 is equal to the outer diameter of the shell 1, and the axial length of the first-stage step at the bottom of the support 2 is 5-6 mm; the outer diameter of the first-stage step in the middle of the support 2 is equal to the inner diameter of the shell 1, and the axial length of the first-stage step in the middle of the support 2 is 10-15 mm; the outer diameter of the first-stage step at the top of the support 2 is 8-10 mm smaller than the inner diameter of the flywheel rotor 3.
The diameter of the motor mounting hole 12 is 1 mm-2 mm larger than the maximum radial dimension of the driving motor 5, and the axial length of the motor mounting hole 12 is 5 mm-6 mm longer than the length of the body of the driving motor 5; the coupling mounting hole 13 is 10 mm-20 mm larger than the maximum radial dimension of the coupling 6.
The wall thickness of the top end of the flywheel rotor 3 is 10 mm-20 mm, the circumferential wall thickness of the flywheel rotor 3 is 10 mm-20 mm, and the axial length of the flywheel rotor 3 is 10 mm-150 mm; the diameter of the bearing mounting section of the rotating shaft 4 is 3 mm-5 mm larger than that of the coupler mounting section.
The driving motor 5 adopts a brushless direct current motor or a permanent magnet synchronous motor, the rated power of the driving motor 5 is 30W-90W, the rated voltage of the driving motor 5 is 24V-36V, and the rated rotating speed of the driving motor 5 is 2500 r/min-3600 r/min.
The first bearing 9 and the second bearing 10 are angular contact bearings, and the specific model of the angular contact bearings is selected according to the diameter of the bearing mounting section of the rotating shaft 4; the specific model of the coupler 6 is selected according to the diameter of the coupler mounting section of the rotating shaft 4 and the diameter of the motor shaft of the driving motor 5; the shell 1, the support 2, the upper flange 7 and the lower flange 8 are all made of light alloy materials, and the flywheel rotor 3 and the rotating shaft 4 are all made of metals with high density, high strength and high rigidity, such as 45# steel, stainless steel and the like.
Assuming that the axial length of the flywheel rotor 3 is h, the value of h is analyzed according to the formula (a), which is as follows:
where J is the total moment of inertia of the flywheel rotor 3, J 1 J is the moment of inertia of the tip portion of the flywheel rotor 3 1 The rotational inertia of the circumferential part of the flywheel rotor 3 is ρ the material density of the flywheel rotor 3, R the outer circumferential radius of the flywheel rotor 3, R the inner circumferential radius of the flywheel rotor 3, δ the top wall thickness of the flywheel rotor 3, and h the axial length of the flywheel rotor 3.
Assuming that the minimum diameter of the rotating shaft 4 is d, the value of d is calculated according to the formula (b), which is as follows:
wherein d is the minimum diameter of the rotating shaft 4, A 0 Is determined by the material properties of the spindle 4 and is obtained by consulting a mechanical design manual (for example 45# a 0 =103-126), P is the power transmitted by the spindle 4; n is the rotation speed of the rotation shaft 4.
The embodiments are not intended to limit the scope of the invention, but rather are intended to cover all equivalent implementations or modifications that can be made without departing from the scope of the invention.
Claims (8)
1. A modularization inertial momentum wheel device for spacecraft attitude control experiments, its characterized in that: the device comprises a shell, a support, a flywheel rotor, a rotating shaft, a driving motor, a coupler, an upper flange, a lower flange, a first bearing and a second bearing; the shell adopts a bottomless cylindrical structure, and a first bearing mounting hole is formed in the top of the shell; the support adopts a three-stage stepped cylinder structure, three-stage stepped holes are formed in the support, and a motor mounting hole, a coupling mounting hole and a second bearing mounting hole are formed in sequence from bottom to top; the flywheel rotor adopts a bottomless cylindrical structure, and a rotating shaft penetrating hole is formed in the top of the flywheel rotor; the top end of the rotating shaft is fixedly provided with a first bearing, and the first bearing is fixedly arranged in a first bearing mounting hole; the second bearing is fixedly arranged at the bottom end of the rotating shaft and fixedly arranged in the second bearing mounting hole; the flywheel rotor is fixedly arranged on the rotating shaft through the rotating shaft penetrating hole; the driving motor is fixedly arranged in the motor mounting hole, the coupler is positioned in the coupler mounting hole, and a motor shaft of the driving motor is connected with the bottom end of the rotating shaft through the coupler; the upper flange is fixedly connected to the top of the shell through bolts; the lower flange is fixedly connected to the bottom of the support through bolts, a cylindrical positioning boss is arranged on the upper surface of the lower flange, the cylindrical positioning boss is assembled with the motor mounting hole in an inserting way, and a motor lead-out hole is formed in the lower flange at the side of the cylindrical positioning boss;
assuming that the axial length of the flywheel rotor is h, the value of h is analyzed according to the formula (a), wherein the formula (a) is as follows:
wherein J is the total rotational inertia of the flywheel rotor, J 1 For moment of inertia of the top part of the flywheel rotor, J 2 The rotational inertia of the circumferential part of the flywheel rotor is ρ, the material density of the flywheel rotor is R, the outer circumferential radius of the flywheel rotor is R, the inner circumferential radius of the flywheel rotor is R, delta, the top end wall thickness of the flywheel rotor is δ, and h is the axial length of the flywheel rotor;
assuming that the minimum diameter of the rotating shaft is d, calculating the value of d according to the formula (b), wherein the formula (b) is as follows:
wherein d is the minimum diameter of the rotating shaft, A 0 The power transmitted by the rotating shaft is determined by the material property of the rotating shaft and is obtained by consulting a mechanical design manual, wherein P is the power transmitted by the rotating shaft; n is the rotating speed of the rotating shaft.
2. A modular inertial momentum wheel device for spacecraft attitude control experiments according to claim 1, characterized in that: an inner-layer coupler observation hole is formed in the support cylinder wall corresponding to the coupler installation hole, and an outer-layer coupler observation hole is formed in the flywheel rotor cylinder wall outside the inner-layer coupler observation hole.
3. A modular inertial momentum wheel device for spacecraft attitude control experiments according to claim 1, characterized in that: the inner diameter of the shell is 8-10 mm larger than the outer diameter of the flywheel rotor, the wall thickness of the shell is 4-5 mm, and the outer diameter of the shell is equal to the outer diameter of the upper flange and the outer diameter of the lower flange; the axial length of the cylindrical positioning boss is 2-3 mm.
4. A modular inertial momentum wheel device for spacecraft attitude control experiments according to claim 1, characterized in that: the outer diameter of the first-stage step at the bottom of the support is equal to the outer diameter of the shell, and the axial length of the first-stage step at the bottom of the support is 5-6 mm; the outer diameter of the first-stage step in the middle of the support is equal to the inner diameter of the shell, and the axial length of the first-stage step in the middle of the support is 10-15 mm; the outer diameter of the first-stage step at the top of the support is 8-10 mm smaller than the inner diameter of the flywheel rotor.
5. A modular inertial momentum wheel device for spacecraft attitude control experiments according to claim 1, characterized in that: the diameter of the motor mounting hole is 1 mm-2 mm larger than the maximum radial dimension of the driving motor, and the axial length of the motor mounting hole is 5 mm-6 mm longer than the length of the driving motor body; the coupler mounting hole is 10 mm-20 mm larger than the maximum radial dimension of the coupler.
6. A modular inertial momentum wheel device for spacecraft attitude control experiments according to claim 1, characterized in that: the wall thickness of the top end of the flywheel rotor is 10-20 mm, the circumferential wall thickness of the flywheel rotor is 10-20 mm, and the axial length of the flywheel rotor is 10-150 mm; the diameter of the bearing mounting section of the rotating shaft is 3 mm-5 mm larger than that of the coupler mounting section.
7. A modular inertial momentum wheel device for spacecraft attitude control experiments according to claim 1, characterized in that: the driving motor adopts a brushless direct current motor or a permanent magnet synchronous motor, the rated power of the driving motor is 30W-90W, the rated voltage of the driving motor is 24V-36V, and the rated rotating speed of the driving motor is 2500 r/min-3600 r/min.
8. A modular inertial momentum wheel device for spacecraft attitude control experiments according to claim 1, characterized in that: the first bearing and the second bearing are both angular contact bearings, and the specific model of the angular contact bearings is selected according to the diameter of the bearing mounting section of the rotating shaft; the specific model of the coupler is selected according to the diameter of the coupler mounting section of the rotating shaft and the diameter of the motor shaft of the driving motor; the shell, the support, the upper flange and the lower flange are all made of light alloy materials, and the flywheel rotor and the rotating shaft are all made of 45# steel or stainless steel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710993866.0A CN107608369B (en) | 2017-10-23 | 2017-10-23 | Modularized inertia momentum wheel device for spacecraft attitude control experiment |
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| CN201710993866.0A CN107608369B (en) | 2017-10-23 | 2017-10-23 | Modularized inertia momentum wheel device for spacecraft attitude control experiment |
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| CN107608369A CN107608369A (en) | 2018-01-19 |
| CN107608369B true CN107608369B (en) | 2023-10-03 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109630655A (en) * | 2018-12-12 | 2019-04-16 | 上海空间推进研究所 | Spacecraft compact flying wheel |
| TWI802170B (en) * | 2021-12-23 | 2023-05-11 | 建準電機工業股份有限公司 | Attitude controller used to control the steering of the spacecraft |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5716272A (en) * | 1980-07-03 | 1982-01-27 | Mitsubishi Electric Corp | Generator direct-coupled flywheel device with motor- operated starter |
| US4732353A (en) * | 1985-11-07 | 1988-03-22 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Three axis attitude control system |
| CN106059226A (en) * | 2016-06-14 | 2016-10-26 | 西安交通大学 | Momentum wheel based on disc type structure |
| WO2016210176A1 (en) * | 2015-06-26 | 2016-12-29 | Amber Kinetics, Inc. | Safe assembly and installation of a flywheel |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207281595U (en) * | 2017-10-23 | 2018-04-27 | 沈阳航空航天大学 | A kind of modularization moment of inertia wheel apparatus for Spacecraft Attitude Control experiment |
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2017
- 2017-10-23 CN CN201710993866.0A patent/CN107608369B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5716272A (en) * | 1980-07-03 | 1982-01-27 | Mitsubishi Electric Corp | Generator direct-coupled flywheel device with motor- operated starter |
| US4732353A (en) * | 1985-11-07 | 1988-03-22 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Three axis attitude control system |
| WO2016210176A1 (en) * | 2015-06-26 | 2016-12-29 | Amber Kinetics, Inc. | Safe assembly and installation of a flywheel |
| CN106059226A (en) * | 2016-06-14 | 2016-10-26 | 西安交通大学 | Momentum wheel based on disc type structure |
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