CN107813963B - Single-frame control moment gyro with full-suspension double-end support - Google Patents
Single-frame control moment gyro with full-suspension double-end support Download PDFInfo
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- CN107813963B CN107813963B CN201710969303.8A CN201710969303A CN107813963B CN 107813963 B CN107813963 B CN 107813963B CN 201710969303 A CN201710969303 A CN 201710969303A CN 107813963 B CN107813963 B CN 107813963B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/286—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using control momentum gyroscopes (CMGs)
Abstract
The invention discloses a full-suspension double-end supported single-frame control moment gyroscope which mainly comprises a magnetic suspension frame system and a magnetic suspension high-speed rotor system. The magnetic suspension frame system mainly comprises a frame, a frame three-degree-of-freedom magnetic bearing, a frame radial sensor, a frame motor, a frame protection bearing, a frame axial sensor, a left frame shaft, a right frame shaft and the like; the magnetic suspension high-speed rotor system mainly comprises an upper gyro room, a lower gyro room, an axial magnetic bearing, a high-speed driving motor, a gyro high-speed rotor, a radial magnetic bearing, a radial displacement sensor, an axial displacement sensor, a protective bearing and the like. The invention adopts the high-speed rotor system supported by the magnetic bearing, greatly improves the working rotating speed of the gyro high-speed rotor and prolongs the service life of the gyro high-speed rotor; meanwhile, the frame system adopts a magnetic bearing double-end supporting mode, so that the supporting rigidity is improved, the mechanical friction is eliminated, and the control precision of the system is improved.
Description
Technical Field
The invention relates to the technical field of control moment gyros, in particular to a full-suspension double-end-supported single-frame control moment gyro which can be used as an attitude actuating mechanism of a spacecraft and can be used for attitude control of a large spacecraft or a small spacecraft, such as a space station or an agile maneuvering satellite.
Background
With the development of manned spaceflight, earth observation and scientific research, the requirements of corresponding space stations, satellite platforms or small-sized spacecrafts on attitude control are higher and higher, and the stability of the attitude control and the flexibility of large-angle maneuvering are embodied. The existing attitude control executing mechanism mainly comprises three major types, namely a thruster, an inertia executing mechanism and an environment moment executing mechanism. Compared with other two types of actuating mechanisms, the inertia actuating mechanism realizes attitude control by utilizing momentum exchange theorem, and has the advantages of no need of consuming working medium and high precision of control moment. The inertia actuating mechanism can be divided into two categories of inertia momentum wheels and control moment gyros. The inertia momentum wheel can only output unidirectional small moment and has the saturation problem, and the control moment gyro has the advantages of large moment amplification factor, good dynamic performance, continuous output moment and high precision. Compared with a double-frame control moment gyro, the single-frame control moment gyro has the advantages of relatively simple structure and large output moment, and can be used as a main attitude control actuating mechanism of a spacecraft. In the existing single-frame control moment gyroscope, a high-speed rotor system and a frame system are supported by mechanical bearings, and the mechanical bearings have the defects of friction, abrasion, lubrication and the like, and the influence of the defects on the high-speed rotor system is reflected in the problems of limited rotating speed, heating, pollution caused by lubrication, limited service life caused by incapability of maintenance and the like; the influence of the disadvantages on the frame system is that the nonlinear friction torque applied to the frame shaft brings a disturbing torque to the spacecraft system, thereby influencing the stability of the spacecraft. The existing single-frame control moment gyroscope has two support modes of single-end support and double-end support. The main disadvantage of the single-end support type is that the integral rigidity of the frame is reduced by only supporting at one end, the modal frequency is further reduced, and resonance is easy to occur when a large gyro moment is output, so that the single-end support type frame is only suitable for occasions outputting small moments.
In patent CN200710065550.1 "single-end supported single-frame magnetically suspended control moment gyro", a magnetically suspended supported rotor is adopted, but a frame system adopts a single-end mechanical bearing support mode, and the nonlinearity of the system caused by the influence of friction moment on the frame shaft is not easily overcome. In patent CN200710065551.6, "complete non-contact single-frame magnetic suspension control moment gyro", a rotor system and a frame system supported by magnetic suspension are adopted, but the frame adopts a single-end support mode, which is not favorable for improving the frame stiffness, and further affects the vibration characteristics of the whole system. In the magnetic suspension control moment gyroscope in patent CN200710304236.4 double-frame magnetic suspension control moment gyroscope, patent CN201410383894.7 single-frame magnetic suspension control moment gyroscope with four degrees of freedom and patent CN201410384117.4 double-frame magnetic suspension control moment gyroscope with four degrees of freedom, the frame system adopts a mode of double-end mechanical bearing support, and frictionless suspension of the frame is not realized.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the full-suspension double-end-supported single-frame control moment gyro can be used as an attitude execution mechanism of a spacecraft for large-scale spacecraft or small-scale spacecraft, such as large-angle maneuvering attitude control of a space station or an agile maneuvering satellite.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a single frame control moment top that full suspension bi-polar supported, mainly comprises magnetic suspension high speed rotor system and magnetic suspension frame system two parts, and wherein magnetic suspension high speed rotor system divide into static part and rotation part, its characterized in that: the static part consists of an upper gyro room, a lower gyro room, an electric appliance connector, an axial magnetic bearing, a stator part of a high-speed driving motor, a stator part of a radial magnetic bearing, a radial displacement sensor, an axial displacement sensor, a protective bearing pressing plate, a protective bearing seat and a sealing cover; the rotating part consists of a gyro high-speed rotor, a rotor part of a high-speed driving motor and a rotor part of a radial magnetic bearing; the gyro high-speed rotor is a flat flywheel and is provided with an upper shaft extension end and a lower shaft extension end along the axial direction, rotor parts of a high-speed driving motor are respectively fixed on two side surfaces of the flywheel, a stator part of the high-speed driving motor is connected between an inner rotor and an outer rotor of the rotor part of the high-speed driving motor through a motor air gap, and the stator parts of the high-speed driving motor are respectively fixed on an upper gyro room and a lower gyro room; an axial magnetic bearing is fixed on the radial outer side of a stator part of the high-speed driving motor, and a rotor part of the axial magnetic bearing is a flat flywheel of a gyroscope high-speed rotor; the upper and lower shaft extension ends of the gyro high-speed rotor are respectively fixed with a rotor part of a radial magnetic bearing, the radially outer side of the rotor part of the radial magnetic bearing is connected with a stator part of the radial magnetic bearing through a magnetic bearing air gap, and the stator parts of the radial magnetic bearing are respectively fixed on an upper gyro room and a lower gyro room; the radial displacement sensor is arranged on the axial outer side of the stator part of the radial magnetic bearing and is respectively fixed on the upper gyro room and the lower gyro room; the protection bearing is arranged on the axial outer side of the radial displacement sensor, the outer ring of the protection bearing is respectively fixed on the upper gyro room and the lower gyro room through the protection bearing pressing plate and the protection bearing seat, and the inner ring of the protection bearing protects the gyro high-speed rotor through the protection gap; an axial displacement sensor is arranged on the outer side of the protective bearing in the axial direction and is respectively fixed on the upper spinning top room and the lower spinning top room through a protective bearing seat; the sealing covers are arranged on the axial outer sides of the axial displacement sensors and are respectively fixed on the upper spinning top room and the lower spinning top room; the magnetic suspension frame system mainly comprises a frame, a frame protection bearing seat, a frame magnetic bearing seat, a frame three-degree-of-freedom magnetic bearing, a frame radial sensor, a frame motor, a frame protection bearing, a frame axial sensor, a left frame shaft, a right frame shaft, a conductive sliding ring, an angular position sensor, a sensor pressing plate, a conductive sliding ring seat, a base handle and a frame base; the frame is fixed on a frame base, the frame base is connected with the spacecraft body through a mechanical interface, and a base handle is fixed on the frame base; the frame protection bearing seat is fixed on the frame, and the outer ring of the frame protection bearing is fixed on the frame protection bearing seat through a threaded compression ring; a stator part of the frame motor is arranged on the outer axial side of the frame protection bearing, and the stator part of the frame motor is fixed on the frame protection bearing seat through a threaded compression ring; a frame radial sensor is arranged on the outer side of the axial direction of a stator part of the frame motor and is fixed on a frame magnetic bearing seat; the axial outer side of the frame radial sensor is provided with a stator part of the frame three-freedom-degree magnetic bearing, and the stator part of the frame three-freedom-degree magnetic bearing is fixed on a frame magnetic bearing seat; a frame axial sensor is arranged on the outer side of the axial direction of a stator part of the frame three-degree-of-freedom magnetic bearing, the frame axial sensor is fixed on a frame magnetic bearing seat, and the frame magnetic bearing seat is fixed on a frame protective bearing seat; the rotor part of the frame three-freedom-degree magnetic bearing and the rotor part of the frame motor are respectively installed on the left frame shaft and the right frame shaft, the frame protection bearing protects the left frame shaft and the right frame shaft through a protection gap, and the left frame shaft and the right frame shaft are fixedly connected with the upper gyro room through screws.
The magnetic suspension frame system is a magnetic suspension frame system, wherein the magnetic suspension frame system is a three-degree-of-freedom magnetic bearing which is a non-mechanical contact bearing and can be a pure electromagnetic magnetic bearing or a hybrid magnetic bearing with permanent magnet bias and electromagnetic control or a pure permanent magnet passive magnetic bearing.
The hybrid magnetic bearing in the form of permanent magnet bias and electromagnetic control of the frame three-degree-of-freedom magnetic bearing comprises a rotating part and a static part, and consists of a three-degree-of-freedom radial stator, a three-degree-of-freedom radial coil, a three-degree-of-freedom radial rotor, a three-degree-of-freedom permanent magnet, a three-degree-of-freedom inner magnetic conductive ring, a three-degree-of-freedom outer magnetic conductive ring, a three-degree-of-freedom axial coil and a three-degree-of-.
The three-degree-of-freedom magnetic bearing of the frame is in a structural form without a thrust disc, and the end face of the three-degree-of-freedom axial rotor plays a role of the thrust disc.
The three-degree-of-freedom radial stator and the three-degree-of-freedom radial rotor can be formed by laminating and laminating soft magnetic materials or the soft magnetic materials with solid structures.
The left frame shaft and the right frame shaft are not supported by a mechanical bearing any more, but are supported by a left frame three-degree-of-freedom magnetic bearing and a right frame three-degree-of-freedom magnetic bearing in a contactless manner, so that active controllable suspension with five degrees of freedom is realized, and the frame motor drives the frame shafts to rotate.
The frame motor is a brushless direct current motor or a permanent magnet synchronous motor.
The frame radial sensor comprises a frame detection ring, a frame radial sensor probe, a measurement range and a detection device, wherein a radial detection gap is formed between the frame radial sensor probe and the frame detection ring, the measurement range is 0.5-1.2 mm, and two radial translation generalized displacements and two radial rotation generalized displacements of a left frame shaft and a right frame shaft are detected.
The axial detection gap is formed between the frame axial sensor probe and the left frame shaft, the measurement range is 0.6-1.2 mm, and the axial translation generalized displacement of the left frame shaft is detected.
Wherein, the angular position sensor is a rotary transformer or a photoelectric code disc.
The principle of the invention is as follows: the single-frame control moment gyro supported by the full-suspension double ends consists of two parts, namely a magnetic suspension high-speed rotor system and a magnetic suspension frame system. In the magnetic suspension high-speed rotor system, the control of two radial translation degrees of freedom and two radial deflection degrees of freedom of the gyro high-speed rotor is completed by controlling the current of a radial magnetic bearing electromagnetic coil, and the control of one axial translation degree of freedom of the gyro high-speed rotor is completed by controlling the current of an axial magnetic bearing electromagnetic coil, so that the control of five degrees of freedom can keep the radial and axial gaps of a rotating part and a static part of the magnetic suspension high-speed rotor system uniform; the rotating part of the gyro high-speed rotor system is controlled to rotate by the high-speed driving motor, so that the stable rotation of the gyro high-speed rotor is realized. In the magnetic suspension frame system, the control of five degrees of freedom including two radial translation degrees, two radial deflection degrees and one axial translation degree of a left frame shaft and a right frame shaft is completed by controlling the current of a magnetic bearing electromagnetic coil with three degrees of freedom of the frame, and the radial and axial gaps of a rotating part and a static part of the magnetic suspension frame system are kept uniform; the rotating part of the magnetic suspension frame system is controlled to rotate by the frame motor, so that the left and right frame shafts can stably rotate. The left and right frame shafts are respectively connected with the magnetic suspension high-speed rotor system, and the rotation shaft of the left and right frame shafts is vertical to the angular momentum direction of the rotating part of the magnetic suspension high-speed rotor system all the time in space. When the rotating part of the magnetic suspension high-speed rotor system keeps constant rotating speed, namely the angular momentum vector value of the rotating part is constant, the left frame shaft and the right frame shaft are driven to rotate through the control frame motor, so that the angular momentum vector direction of the rotating part of the magnetic suspension high-speed rotor system is forcibly changed, the angular momentum vector direction can be obtained through a gyro moment equation, the control moment gyro can realize the output of control moment, and the moment acts on the spacecraft body through the frame base to realize the attitude control of the spacecraft.
Compared with the prior art, the invention has the advantages that: the invention overcomes the defects of friction, abrasion and the like of the mechanical bearing support of the existing control moment gyroscope, adopts the magnetic bearing support which has no friction, does not need lubrication and can actively vibrate and control in a high-speed rotor system and a frame system, greatly improves the rotating speed of a rotor, improves the output moment and reduces the maintenance cost, vibration and noise of the control moment gyroscope; the three-freedom-degree magnetic bearing of the frame in the frame system provides active control of radial and axial freedom degrees simultaneously, eliminates nonlinear friction torque borne by a frame shaft, enables the precision of output control torque to be higher, and obviously reduces the axial length of the frame system; the double-end supporting mode is adopted, the defect of low rigidity of single-end supporting is avoided, the rigidity of the frame system is improved, and the anti-resonance capacity of the whole system is enhanced.
Drawings
FIG. 1 is a schematic diagram of a fully suspended double-ended supported single frame control moment gyro of the present invention;
FIG. 2 is an axial cross-sectional view of the frame three-degree-of-freedom magnetic bearing of the present invention;
FIG. 3 is a schematic view of a frame radial sensor of the present invention;
FIG. 4 is a schematic view of the frame axial sensor of the present invention;
fig. 5 is an axial sectional view of the high speed drive motor of the present invention.
The reference numbers in the figures mean: 1 is an upper gyro room, 2 is a lower gyro room, 3 is an electric appliance connector, 4 is an axial magnetic bearing, 5 is a high-speed driving motor, 6 is a radial magnetic bearing, 7 is a radial displacement sensor, 8 is a gyro high-speed rotor, 9 is an axial displacement sensor, 10 is a protective bearing, 11 is a protective bearing press plate, 12 is a protective bearing seat, 13 is a sealing cover, 14 is a frame, 15 is a frame protective bearing seat, 16 is a frame magnetic bearing seat, 17 is a frame three-degree-of-freedom magnetic bearing, 18 is a frame radial sensor, 19 is a frame motor, 20 is a frame protective bearing, 21 is a frame axial sensor, 22 is a left frame shaft, 23 is a right frame shaft, 24 is a conductive slip ring, 25 is an angular position sensor, 26 is a sensor press plate, 27 is a conductive slip ring seat, 28 is a base handle, 29 is a frame base, 171 is a three-degree-of-, 173 is a three-degree-of-freedom inner magnetic conductive ring, 174 is a three-degree-of-freedom outer magnetic conductive ring, 175 is a three-degree-of-freedom axial coil, 176 is a three-degree-of-freedom axial rotor, 177 is a three-degree-of-freedom radial rotor, 178 is a three-degree-of-freedom radial coil, 179 is a three-degree-of-freedom radial component radial gap, 1710 is a three-degree-of-freedom axial component radial gap, 1711 is a three-degree-of-freedom axial gap, 1712 is a three-degree-of-freedom axial rotor end face, 181 is a frame radial sensor probe, 182 is a frame radial detection gap, 183 is a frame radial sensor mounting seat, 184 is a frame detection ring, 211 is a frame axial sensor probe, 212 is a frame axial detection gap, 213 is a frame axial sensor mounting seat, 214 is a frame axial sensor cover, 215 is a, 54 is an outer rotor spacer ring, 55 is an outer rotor permanent magnet, 56 is an inner rotor spacer ring, 57 is an inner rotor iron core, and 58 is an inner rotor mounting sleeve.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in fig. 1, a full-suspension double-end supported single-frame control moment gyro mainly comprises two major parts, namely a magnetic suspension high-speed rotor system and a magnetic suspension frame system, wherein the magnetic suspension high-speed rotor system is divided into a static part and a rotating part, and the static part comprises an upper gyro room 1, a lower gyro room 2, an electrical appliance connector 3, an axial magnetic bearing 4, a stator part of a high-speed driving motor 5, a stator part of a radial magnetic bearing 6, a radial displacement sensor 7, an axial displacement sensor 9, a protective bearing 10, a protective bearing pressing plate 11, a protective bearing seat 12 and a sealing cover 13; the rotating part consists of a gyro high-speed rotor 8, a rotor part of a high-speed driving motor 5 and a rotor part of a radial magnetic bearing 6; the gyro high-speed rotor 8 is a flat flywheel and is provided with an upper shaft extension end and a lower shaft extension end along the axial direction, rotor parts of a high-speed driving motor 5 are respectively fixed on two side surfaces of the flywheel, stator parts of the high-speed driving motor 5 are connected between inner and outer rotors of the rotor part of the high-speed driving motor 5 through a motor air gap, and the stator parts of the high-speed driving motor 5 are respectively fixed on the upper gyro room 1 and the lower gyro room 2; an axial magnetic bearing 4 is fixed on the radial outer side of a stator part of the high-speed driving motor 5, and a rotor part of the axial magnetic bearing 4 is a flat flywheel of a gyro high-speed rotor 8; the upper and lower shaft extension ends of the gyro high-speed rotor 8 are respectively fixed with a rotor part of a radial magnetic bearing 6, the rotor part of the radial magnetic bearing 6 is connected with a stator part of the radial magnetic bearing 6 through a magnetic bearing air gap on the radial outer side, and the stator parts of the radial magnetic bearing 6 are respectively fixed on the upper gyro room 1 and the lower gyro room 2; a radial displacement sensor 7 is arranged on the axial outer side of a stator part of the radial magnetic bearing 6, and the radial displacement sensor 7 is respectively fixed on the upper gyro room 1 and the lower gyro room 2; a protection bearing 10 is arranged on the axial outer side of the radial displacement sensor 7, the outer ring of the protection bearing 10 is respectively fixed on the upper gyro room 1 and the lower gyro room 2 through a protection bearing pressure plate 11 and a protection bearing seat 12, and the inner ring of the protection bearing 10 protects the gyro high-speed rotor 8 through a protection gap; an axial displacement sensor 9 is arranged on the outer side of the protection bearing 10 in the axial direction, and the axial displacement sensor 9 is respectively fixed on the upper spinning top room 1 and the lower spinning top room 2 through a protection bearing seat 12; the axial outer side of the axial displacement sensor 9 is provided with a sealing cover 13, and the sealing covers 13 are respectively fixed on the upper spinning top room 1 and the lower spinning top room 2; the magnetic suspension frame system mainly comprises a frame 14, a frame protection bearing seat 15, a frame magnetic bearing seat 16, a frame three-degree-of-freedom magnetic bearing 17, a frame radial sensor 18, a frame motor 19, a frame protection bearing 20, a frame axial sensor 21, a left frame shaft 22, a right frame shaft 23, a conductive slip ring 24, an angular position sensor 25, a sensor pressure plate 26, a conductive slip ring seat 27, a base handle 28 and a frame base 29; wherein, the frame 14 is fixed on a frame base 29, the frame base 29 is connected with the spacecraft body through a mechanical interface, and a base handle 28 is fixed on the frame base 29; the frame protection bearing seat 15 is fixed on the frame 14, and the outer ring of the frame protection bearing 20 is fixed on the frame protection bearing seat 15 through a threaded compression ring; the axial outer side of the frame protection bearing 20 is provided with a stator part of a frame motor 19, and the stator part of the frame motor 19 is fixed on the frame protection bearing seat 15 through a threaded compression ring; a frame radial sensor 18 is arranged on the axial outer side of the stator part of the frame motor 19, and the frame radial sensor 18 is fixed on the frame magnetic bearing block 16; the axial outer side of the frame radial sensor 18 is provided with a stator part of a frame three-freedom-degree magnetic bearing 17, and the stator part of the frame three-freedom-degree magnetic bearing 17 is fixed on a frame magnetic bearing seat 16; a frame axial sensor 21 is arranged on the outer side of the stator part of the frame three-degree-of-freedom magnetic bearing 17 in the axial direction, the frame axial sensor 21 is fixed on a frame magnetic bearing seat 16, and the frame magnetic bearing seat 16 is fixed on a frame protective bearing seat 15; the rotor part of the frame three-degree-of-freedom magnetic bearing 17 and the rotor part of the frame motor 19 are respectively installed on a left frame shaft 22 and a right frame shaft 23, the frame protection bearing 20 protects the left frame shaft 22 and the right frame shaft 23 through a protection gap, and the left frame shaft 22 and the right frame shaft 23 are fixedly connected with the upper gyro room 1 through screws.
The frame three-freedom-degree magnetic bearing 17 in the magnetic suspension frame system is a non-mechanical contact bearing and can be a pure electromagnetic magnetic bearing or a hybrid magnetic bearing with permanent magnet bias and electromagnetic control or a pure permanent magnet passive magnetic bearing. As shown in fig. 2, the frame three-degree-of-freedom magnetic bearing 17 in the form of permanent magnet bias and electromagnetic control is provided, which includes a rotating part and a stationary part, and is composed of a three-degree-of-freedom radial stator 171, a three-degree-of-freedom radial coil 178, a three-degree-of-freedom radial rotor 177, a three-degree-of-freedom permanent magnet 172, a three-degree-of-freedom inner magnetic conductive ring 173, a three-degree-of-freedom outer magnetic conductive ring 174, a three-degree-of-freedom axial coil 175, and a three-degree. The three-degree-of-freedom radial rotor 177 and the three-degree-of-freedom axial rotor 176 are respectively installed on the left frame shaft 22 and the right frame shaft 23, and the left frame shaft 22 and the right frame shaft 23 are respectively and fixedly connected with the magnetic suspension high-speed rotor system. The frame three-degree-of-freedom magnetic bearing 17 is in a structural form without a thrust disc, and the three-degree-of-freedom axial rotor end surface 1712 plays a role of the thrust disc. A three-degree-of-freedom radial assembly radial gap 179 is formed between the three-degree-of-freedom radial stator 171 and the three-degree-of-freedom radial rotor 177, a three-degree-of-freedom axial assembly radial gap 1710 is formed between the three-degree-of-freedom inner magnetic conductive ring 173 and the three-degree-of-freedom axial rotor 176, and a three-degree-of-freedom axial gap 1711 is formed between the three-degree-of-freedom outer magnetic. The left frame shaft 22 and the right frame shaft 23 are no longer supported by mechanical bearings, but are supported without contact by the left and right two-frame three-degree-of-freedom magnetic bearings 17, so that active controllable suspension with five degrees of freedom is realized, and the frame motor 19 drives the frame shaft to rotate.
The frame radial sensor 18 in the magnetic suspension frame system of the present invention may be an eddy current type displacement sensor or an inductive type displacement sensor. As shown in fig. 3, the frame radial sensor probe 181 is mounted on the frame radial sensor mounting seat 183, the frame detection ring 184 is fixed on the left frame shaft 22 or the right frame shaft 23, a frame radial detection gap 182 is provided between the frame radial sensor probe 181 and the frame detection ring 184, the measurement range is 0.5mm to 1.2mm, and two radial translation generalized displacements and two radial rotation generalized displacements of the left frame shaft 22 and the right frame shaft 23 are detected.
The frame axial sensor 21 in the magnetic suspension frame system of the invention can be an eddy current type displacement sensor and can also be an inductive type displacement sensor. As shown in fig. 4, the frame axial sensor probe 211 is mounted on the frame axial sensor mounting seat 213, the frame axial sensor circuit board 215 is fixed on the frame axial sensor mounting seat 213 through the frame axial sensor insulating pad 216, and the frame axial sensor cover 214 is fixed on the frame axial sensor mounting seat 213 for protection. An axial detection gap 212 is formed between the frame axial sensor probe 211 and the left frame shaft 22, the measurement range is 0.6-1.2 mm, and the axial translation generalized displacement of the left frame shaft 22 is detected.
The high-speed driving motor 5 is a driving part of a magnetic suspension high-speed rotor system, and adopts a hollow cup-shaped stator permanent magnet brushless direct current motor without a tooth slot and a stator core. As shown in fig. 5, the high-speed drive motor 5 is composed of a coreless stator 51, an outer rotor mounting sleeve 52, an outer rotor core 53, an outer rotor spacer ring 54, an outer rotor permanent magnet 55, an inner rotor spacer ring 56, an inner rotor core 57, and an inner rotor mounting sleeve 58, wherein the coreless stator 51 is a stationary part, and the rest is a rotating part. An air gap part of the high-speed driving motor 5 is arranged between the static part and the rotating part, the hollow cup stator 51 is fixed on the upper gyro room 1 or the lower gyro room 2 through screws, the inner rotor iron core 57 is sleeved outside the inner rotor mounting sleeve 58 and is pressed through the inner rotor spacer ring 56, the outer rotor permanent magnet 55 and the outer rotor iron core 53 are sleeved inside the outer rotor mounting sleeve 52 and are pressed through the outer rotor spacer ring 54, and the inner rotor mounting sleeve 58 and the outer rotor mounting sleeve 52 are respectively connected to the gyro high-speed rotor 8 in an interference fit mode.
The frame motor 19 (fig. 1) of the present invention is a brushless dc motor or a permanent magnet synchronous motor, and drives the left frame shaft 22 to rotate, and thus drives the magnetic suspension high-speed rotor system to rotate.
The angular position sensor 25 (fig. 1) of the present invention is a resolver or optical encoder that detects the angular position of the frame shaft and provides an angular position signal for control of the magnetic levitation frame system.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (10)
1. The utility model provides a single frame control moment top that full suspension bi-polar supported, mainly comprises magnetic suspension high speed rotor system and magnetic suspension frame system two parts, and wherein magnetic suspension high speed rotor system divide into static part and rotation part, its characterized in that: the static part consists of an upper gyro room (1), a lower gyro room (2), an electric appliance connector (3), an axial magnetic bearing (4), a stator part of a high-speed driving motor (5), a stator part of a radial magnetic bearing (6), a radial displacement sensor (7), an axial displacement sensor (9), a protective bearing (10), a protective bearing pressing plate (11), a protective bearing seat (12) and a sealing cover (13); the rotating part consists of a gyro high-speed rotor (8), a rotor part of a high-speed driving motor (5) and a rotor part of a radial magnetic bearing (6); the gyro high-speed rotor (8) is a flat flywheel and is provided with an upper shaft extension end and a lower shaft extension end along the axial direction, the two side surfaces of the flywheel are respectively fixed with a rotor part of a high-speed driving motor (5), a stator part of the high-speed driving motor (5) is connected between an inner rotor part and an outer rotor part of the high-speed driving motor (5) through a motor air gap, and the stator parts of the high-speed driving motor (5) are respectively fixed on the upper gyro room (1) and the lower gyro room (2); an axial magnetic bearing (4) is fixed on the radial outer side of a stator part of the high-speed driving motor (5), and a rotor part of the axial magnetic bearing (4) is a flat flywheel of a gyro high-speed rotor (8); the upper and lower shaft extension ends of the gyro high-speed rotor (8) are respectively fixed with a rotor part of a radial magnetic bearing (6), the radial outer side of the rotor part of the radial magnetic bearing (6) is connected with a stator part of the radial magnetic bearing (6) through a magnetic bearing air gap, and the stator parts of the radial magnetic bearing (6) are respectively fixed on the upper gyro room (1) and the lower gyro room (2); a radial displacement sensor (7) is arranged on the axial outer side of a stator part of the radial magnetic bearing (6), and the radial displacement sensors (7) are respectively fixed on the upper gyro room (1) and the lower gyro room (2); a protective bearing (10) is arranged on the axial outer side of the radial displacement sensor (7), the outer ring of the protective bearing (10) is respectively fixed on the upper gyro room (1) and the lower gyro room (2) through a protective bearing pressure plate (11) and a protective bearing seat (12), and the inner ring of the protective bearing (10) protects a gyro high-speed rotor (8) through a protective gap; an axial displacement sensor (9) is arranged on the outer side of the protection bearing (10) in the axial direction, and the axial displacement sensor (9) is respectively fixed on the upper gyro room (1) and the lower gyro room (2) through a protection bearing seat (12); a sealing cover (13) is arranged on the axial outer side of the axial displacement sensor (9), and the sealing covers (13) are respectively fixed on the upper gyro room (1) and the lower gyro room (2); the magnetic suspension frame system mainly comprises a frame (14), a frame protection bearing seat (15), a frame magnetic bearing seat (16), a frame three-degree-of-freedom magnetic bearing (17), a frame radial sensor (18), a frame motor (19), a frame protection bearing (20), a frame axial sensor (21), a left frame shaft (22), a right frame shaft (23), a conductive slip ring (24), an angular position sensor (25), a sensor pressure plate (26), a conductive slip ring seat (27), a base handle (28) and a frame base (29); wherein, the frame (14) is fixed on a frame base (29), the frame base (29) is connected with the spacecraft body through a mechanical interface, and a base handle (28) is fixed on the frame base (29); the frame protection bearing seat (15) is fixed on the frame (14), and the outer ring of the frame protection bearing (20) is fixed on the frame protection bearing seat (15) through a threaded compression ring; the axial outer side of the frame protection bearing (20) is provided with a stator part of a frame motor (19), and the stator part of the frame motor (19) is fixed on the frame protection bearing seat (15) through a threaded compression ring; a frame radial sensor (18) is arranged on the outer side of the axial direction of a stator part of the frame motor (19), and the frame radial sensor (18) is fixed on a frame magnetic bearing seat (16); the axial outer side of the frame radial sensor (18) is provided with a stator part of a frame three-freedom-degree magnetic bearing (17), and the stator part of the frame three-freedom-degree magnetic bearing (17) is fixed on a frame magnetic bearing seat (16); a frame axial sensor (21) is arranged on the outer side of the axial direction of a stator part of the frame three-degree-of-freedom magnetic bearing (17), the frame axial sensor (21) is fixed on a frame magnetic bearing seat (16), and the frame magnetic bearing seat (16) is fixed on a frame protective bearing seat (15); a rotor part of the frame three-degree-of-freedom magnetic bearing (17) and a rotor part of the frame motor (19) are respectively installed on a left frame shaft (22) and a right frame shaft (23), a frame protection bearing (20) protects the left frame shaft (22) and the right frame shaft (23) through a protection gap, and the left frame shaft (22) and the right frame shaft (23) are fixedly connected with the upper gyro room (1) through screws.
2. A fully-suspended double-ended supported single-frame control moment gyro according to claim 1, characterized in that: the frame three-freedom-degree magnetic bearing (17) in the magnetic suspension frame system is a non-mechanical contact bearing and is a pure electromagnetic magnetic bearing or a mixed magnetic bearing with permanent magnet bias and electromagnetic control or a pure permanent magnet passive magnetic bearing.
3. A fully-suspended double-ended supported single-frame control moment gyro according to claim 2, characterized in that: the hybrid magnetic bearing in the form of permanent magnet bias and electromagnetic control of the frame three-degree-of-freedom magnetic bearing (17) comprises a rotating part and a static part, and consists of a three-degree-of-freedom radial stator (171), a three-degree-of-freedom radial coil (178), a three-degree-of-freedom radial rotor (177), a three-degree-of-freedom permanent magnet (172), a three-degree-of-freedom inner magnetic conductive ring (173), a three-degree-of-freedom outer magnetic conductive ring (174), a three-degree-of-freedom axial coil (175) and a three-degree-of-freedom axial rotor (176), wherein.
4. A fully-suspended double-ended supported single-frame control moment gyro according to claim 3, characterized in that: the frame three-degree-of-freedom magnetic bearing (17) is in a structural form without a thrust disc, and the three-degree-of-freedom axial rotor end surface (1712) plays a role of the thrust disc.
5. A fully-suspended double-ended supported single-frame control moment gyro according to claim 3, characterized in that: the three-degree-of-freedom inner magnetic conductive ring (173), the three-degree-of-freedom outer magnetic conductive ring (174) and the three-degree-of-freedom axial rotor (176) are made of soft magnetic materials with solid structures, and the three-degree-of-freedom radial stator (171) and the three-degree-of-freedom radial rotor (177) are made of soft magnetic materials which are laminated and laminated or are made of soft magnetic materials with solid structures.
6. A fully-suspended double-ended supported single-frame control moment gyro according to claim 1, characterized in that: the left frame shaft (22) and the right frame shaft (23) are not supported by mechanical bearings any more, but are supported by the left and right frame three-degree-of-freedom magnetic bearings (17) in a non-contact manner, so that active controllable suspension with five degrees of freedom is realized, and the frame motor (19) is used for driving the frame shaft to rotate.
7. A fully-suspended double-ended supported single-frame control moment gyro according to claim 1 or 6, characterized in that: the frame motor (19) is a brushless direct current motor or a permanent magnet synchronous motor.
8. A fully-suspended double-ended supported single-frame control moment gyro according to claim 1, characterized in that: the frame radial sensor (18) is an eddy current type displacement sensor or an inductive type displacement sensor; a radial detection gap is formed between the frame radial sensor probe (181) and the frame detection ring (184), the measurement range is 0.5 mm-1.2 mm, and two radial translation generalized displacements and two radial rotation generalized displacements of the left frame shaft (22) and the right frame shaft (23) are detected.
9. A fully-suspended double-ended supported single-frame control moment gyro according to claim 1, characterized in that: the frame axial sensor (21) is an eddy current type displacement sensor or an inductive type displacement sensor; an axial detection gap is formed between the frame axial sensor probe (211) and the left frame shaft (22), the measurement range is 0.6-1.2 mm, and the axial translation generalized displacement of the left frame shaft (22) is detected.
10. A fully-suspended double-ended supported single-frame control moment gyro according to claim 1, characterized in that: the angular position sensor (25) is a rotary transformer or a photoelectric coded disc.
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| CN108591258B (en) * | 2018-05-10 | 2019-11-26 | 中国科学院国家天文台南京天文光学技术研究所 | Horizon open frame for Large-Scale Precision Instrument and Equipment |
| CN109597438B (en) * | 2018-11-30 | 2021-09-24 | 上海航天控制技术研究所 | Control moment gyro |
| CN111720485A (en) * | 2020-06-24 | 2020-09-29 | 江苏科技大学 | Embedded gyroscope type six-degree-of-freedom stable platform |
| CN115079740A (en) * | 2022-05-27 | 2022-09-20 | 浙江工业大学 | Magnetic suspension type inertially stabilized platform |
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