CN109229424A - A kind of multi-degree of freedom spherical electrodynamic levitation momenttum wheel - Google Patents

A kind of multi-degree of freedom spherical electrodynamic levitation momenttum wheel Download PDF

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Publication number
CN109229424A
CN109229424A CN201811066863.3A CN201811066863A CN109229424A CN 109229424 A CN109229424 A CN 109229424A CN 201811066863 A CN201811066863 A CN 201811066863A CN 109229424 A CN109229424 A CN 109229424A
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spherical
mover
momentum wheel
flywheel
magnetic levitation
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CN109229424B (en
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朱煜
张鸣
怀周玉
陈安林
杨开明
成荣
李鑫
王磊杰
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Tsinghua University
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Tsinghua University
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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
    • B64G1/285—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using momentum wheels
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Magnetic Bearings And Hydrostatic Bearings (AREA)
  • Linear Motors (AREA)

Abstract

A kind of multi-degree of freedom spherical electrodynamic levitation momenttum wheel is made of external support component, spherical drive motor and internal electrodynamic levitation momenttum wheel；Spherical drive motor stator is fixed on the positioning in external support component, while providing self-aligning spherical support for spherical mover；The sinusoidal ac of out of phase is passed through in spherical drive motor stator coil array, form the travelling-magnetic-field of different directions, the space direction of entire spherical mover can be driven to change, and then realize a wide range of interior adjusting to Control for Magnetic Momentum Wheel shaft space direction；Simultaneously according to electrodynamic type driving principle, stable suspersion is carried out to internal electrodynamic levitation momenttum wheel and is pivoted integrated driving, to realize to the rotor shaft direction of internal Control for Magnetic Momentum Wheel and fully controlling for revolving speed size, the multiaxis active control to spacecraft attitude finally can be realized.

Description

A kind of multi-degree of freedom spherical electrodynamic levitation momenttum wheel
Technical field
The present invention is a kind of multi-degree of freedom spherical electrodynamic levitation momenttum wheel, and it is novel to be used as spacecraft attitude control system Actuator.
Background technique
Momenttum wheel and control-moment gyro are widely used in spacecraft attitude control system actuator.Each momenttum wheel phase There is fixed shaft direction for spacecraft, the gesture stability ability on a certain specific direction can be provided for spacecraft, therefore extremely Arrange that 3 momenttum wheels can just fully achieve the three-axis attitude active control of spacecraft less.Though and more frame control-moment gyro energy Realize the adjusting to rotor shaft, but one adjusting freedom degree of every increase, it is necessary to increase an external frame and its driving system System, so that overall structure is not numerous and jumbled compact.Two kinds of spacecraft actuator structures occupy biggish spacecraft space resource.When Before, with the extension of spacecraft application range, small-sized spacecraft technology small in size, that light weight and cost is low is attracted extensive attention, Traditional momenttum wheel and control-moment gyro structure can not better meet spacecraft trend toward miniaturization.
Publication No. CN104753273A, a kind of entitled patent of magnetic suspension momentum sphere disclose a kind of for spacecraft The reaction ball of pose adjustment includes a spherical shell shape mover and three groups of stators.Three groups of stator quadrature arrangements, every group of stator surround Mover is positioned opposite.Each stator core can provide the thrust and torque along axis stator direction, and six stators cooperate real The stable suspersion of existing spherical shape mover and rotation drive, simple and compact for structure.However, being analysed in depth for such momentum sphere configuration It is found that the vortex of stator surface will cause additional electromagnetic resistance square when spherical mover is rotated along any axis, spherical mover is hindered The promotion of revolving speed significantly limits the mover ball limit speed of this kind of structure, causes it for the pose adjustment energy of spacecraft Power is limited.Publication No. CN104176277A, a kind of entitled patent of four-degree-of-freedom double-frame magnetic suspension control moment gyro A kind of control-moment gyro being made of four-degree-of-freedom magnetic bearing, high-speed motor, internal and external frame etc. is proposed, but its structure is complex And frame ends mounting torque motor-driven frames rotate, torque motor volume is larger, so that entire double-frame magnetic suspension control Moment gyro is bulky, occupies biggish spacecraft space resource.
Summary of the invention
Technical problem solved by the present invention is overcoming the deficiencies of the prior art and provide a kind of multi-degree of freedom spherical electrodynamic type Control for Magnetic Momentum Wheel is used as the novel actuator of spacecraft attitude control system.The system structure is simple and compact, realizes flywheel rotor Stablize magnetic suspension and high speed rotation drives, while cooperating external spherical driving motor adjustment spherical frame direction, realizes to mover The a wide range of adjusting of flywheel shaft space direction substantially increases internal electrodynamic levitation momenttum wheel and adjusts to spacecraft attitude Ability.
The technical solution of the invention is as follows:
Including external support component, spherical drive motor and internal electrodynamic levitation momenttum wheel, in which: external support group Part includes bottom base, spherical bearing and side frame；Spherical drive motor includes spherical drive motor stator and spherical mover； The bottom base is positioned and is fixed to the spherical drive motor stator；The spherical bearing is that the spherical mover mentions For self-aligning spherical support；The side frame connects and fixes the bottom base and the spherical bearing, keeps spherical drive motor Stator and spherical mover gap are uniform.
Further, the multi-degree of freedom spherical electrodynamic levitation momentum wheel apparatus further includes spherical drive motor, institute Stating spherical drive motor includes spherical drive motor stator and spherical mover.
Further, spherical mover is by spherical mover shell and spherical mover in-line power end and internal electrodynamic type magnetcisuspension Amount of floating wheel composition is realized by spherical mover in-line power end for spherical mover shell and internal electrodynamic levitation momentum The connection of wheel；Spherical mover in-line power end connects external power supply, for electrodynamic levitation momenttum wheel power supply inside spherical mover.
Further, the spherical drive motor stator is made of spherical surface stator core and coil array；Spherical surface stator iron Core and spherical mover shell arranged concentric, form uniform air gap；The coil combination for selecting different location in coil array, is passed through The sinusoidal ac of out of phase forms the travelling-magnetic-field on different directions in air gap, induces in spherical mover shell Electromagnetic eddy interacts with travelling-magnetic-field and generates electromagnetic driving force and torque, drives spherical mover rotation, changes space court To.
Further, the internal electrodynamic levitation momenttum wheel includes mover flywheel, Control for Magnetic Momentum Wheel stator and axis To motor.
Further, the mover flywheel uses the annular spherical shell structure of suitable thickness, and surfaces externally and internally is spherical surface, stablizes When suspension, mover flywheel outer surface and spherical mover shell are concentric.
Further, Control for Magnetic Momentum Wheel stator is made of flywheel stator core and flywheel coil array, flywheel axis connection Control for Magnetic Momentum Wheel stator and external spherical mover shell, provide bearing for internal electrodynamic levitation momenttum wheel, drive in spherical shape It under dynamic motor driven, is rotated together with spherical mover shell, changes the rotor shaft direction of mover flywheel, while passing through conducting wire connected ball Shape mover in-line power end powers for internal electrodynamic levitation momenttum wheel.
Further, flywheel stator core circumference side is spherical surface, can be formed with spherical mover shell between uniform suspend Gap is slotted on spherical surface, and slot is embedded with flywheel coil array, and the sinusoidal ac of out of phase is passed through to the coil array in slot, The magnetic field along the circumferential direction rotated is formed around flywheel stator core, and induction whirlpool is formed inside annular sphere mover flywheel Stream, under Lorentz force effect, driving mover flywheel is realized magnetic suspension and is pivoted.
Further, the Control for Magnetic Momentum Wheel stator also can be used in spherical stator core surface layout lattice coil battle array The structure of column is along the circumferential direction passed through the sinusoidal ac of out of phase, will go out be vortexed in mover flywheel induced inside, in long-range navigation Under hereby power effect, driving mover flywheel carries out stablizing magnetic suspension and pivoting movement.
Further, axial direction electric machine is made of axial direction electric machine iron core and axial direction electric machine coil array, axial direction electric machine iron core with Flywheel shaft keeps being formed between bottom surface on stator core outer rim coil array surface and mover flywheel certain thick using being fixedly connected The even air gap of degree.The sinusoidal ac of out of phase is passed through in axial direction electric machine coil array, it will be in axial direction electric machine iron core week Generation rotating excitation field is enclosed, induces vortex in the upper bottom surface of mover flywheel, and then generate axial driving force to mover flywheel With the auxiliary drive torque of circumferencial direction；The size of current of regulating winding may be used also under upper and lower axial direction electric machine collective effect simultaneously Realize that the rotation to mover flywheel perpendicular to axis direction drives, it is final to realize for mover flywheel six degree of freedom active control.
Further, spherical bearing is mechanical ball spherical bearing or mechanical slip spherical bearing or air bearing spherical axis It holds.
The advantages of the present invention over the prior art are that:
(1) the mover flywheel in the present invention uses electrodynamic levitation, and can realize that high speed rotation drives, and greatly weakens Mechanical oscillation and abrasion in the high Rotation Process of flywheel weaken the non-linear factor in revolving speed control process, improve spacecraft appearance State controls precision.Spacecraft attitude control system can be significantly turned up by configuring multiple this kind of multiple freedom degree magnetic levitation momenttum wheels simultaneously Fault-tolerant ability, reliability and service life.
(2) the spherical mover shell of the electrodynamic levitation momenttum wheel in the present invention and spherical drive motor is connected, and passes through Spherical drive motor stator generates the travelling-magnetic-field of any direction movement, drives spherical mover space towards changing, in turn The space direction of the shaft of internal electrodynamic levitation momenttum wheel is adjusted, provides the pose adjustment in a wide range of for spacecraft ontology Ability.
(3) realize that a wide range of Three Degree Of Freedom rotation is driven in the present invention under the driving of external coil array using spherical housing It is dynamic, compared to double frame control-moment gyros, greatly reduce overall volume.Compared to the momenttum wheel of single-degree-of-freedom rotation, adopt The three-axis attitude active control for spacecraft ontology can be realized with less actuator, so that entire actuator system is more It is compact, it is more applicable for the spacecraft of miniaturization.
Detailed description of the invention
Fig. 1 is a kind of multi-degree of freedom spherical electrodynamic levitation momenttum wheel composition schematic diagram of the present invention.
Fig. 2 is external support component structure diagram.
Fig. 3 A is spherical drive motor stator structure schematic diagram.
Fig. 3 B, 3C and 3D are the driving principle figure that spherical drive motor stator forms different directions travelling-magnetic-field.
Fig. 4 is spherical mover and internal Control for Magnetic Momentum Wheel structural schematic diagram.
Fig. 5 A, 5B are that internal electrodynamic levitation momenttum wheel rotates driving principle schematic diagram.
Fig. 5 C, 5D are respectively Control for Magnetic Momentum Wheel stator first embodiment, schematic structural diagram of the second embodiment.
Fig. 6 is internal electrodynamic levitation momenttum wheel axial-direction motor structure schematic diagram.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical", The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ", " third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition Concrete meaning in invention.
As shown in Figure 1, a kind of multi-degree of freedom spherical electrodynamic levitation momenttum wheel includes external support component, spherical drive Motor and internal electrodynamic levitation momenttum wheel；The spherical drive motor includes spherical mover 1 and spherical drive motor stator 3。
As shown in Fig. 2, external support modular construction includes bottom base 4, side frame 5 and spherical bearing 2；Spherical mover 1 is supported by spherical bearing 2, and spherical drive motor stator 3 is positioned by bottom base 4 and fixed；Bottom base 4 and spherical bearing 2 are logical The connection of side frame 5 is crossed, can keep forming uniform air gap between spherical mover 1 and spherical drive motor stator 3；The spherical surface Bearing 2 can be realized by spherical roller bearings, and spherical bearing realization can also be used, and the realization of spherical surface air-bearing can also be used.
As shown in figure 3, spherical drive motor stator 3 includes spherical surface stator core 7 and coil array 8.Spherical surface stator core 7 Inner surface is spherical surface, and array is slotted on spherical surface, is embedded in coil, forms spherical surface coil array 8.Spherical surface stator core 7 and spherical shape are dynamic 10 arranged concentric of subshell, forms uniform air gap.The coil combination for selecting different location in coil array 8, is passed through different phases The sinusoidal ac of position can be the travelling-magnetic-field formed in air gap along different directions above spherical surface stator core 7.The traveling wave magnetic Field induces vortex in conductive nonferromagnetic spherical shape mover shell 10.With travelling-magnetic-field interact generate electromagnetic driving force and Torque drives spherical mover 1 to realize three freedom rotary sport, changes its space direction, adjust simultaneously under Lorentz force effect Save the space direction of internal electrodynamic levitation momenttum wheel shaft.
As shown in figure 4, spherical mover includes spherical mover in-line power end 9, spherical mover shell 10 and internal electrodynamic type Control for Magnetic Momentum Wheel.Spherical mover shell 10 and internal electrodynamic levitation momenttum wheel are connected by spherical mover in-line power end 9. The power supply to internal electrodynamic levitation momenttum wheel is realized simultaneously.
As shown in Figure 4, Figure 5, internal electrodynamic levitation momenttum wheel includes mover flywheel 12, Control for Magnetic Momentum Wheel stator 13 With axial direction electric machine 11.The mover flywheel 12 is annular spherical shell structure, and surfaces externally and internally is spherical surface, when stablizing magnetic suspension, appearance Face and spherical mover shell 10 are concentric；Control for Magnetic Momentum Wheel stator 13 is by flywheel shaft 14, flywheel stator core 15 and flywheel coil Array 16 forms.Flywheel shaft 14 links together flywheel stator core 15 and spherical mover shell 10, by spherical drive motor Driving rotation, and the power supply by 9 realization of spherical mover in-line power end to internal electrodynamic levitation momenttum wheel；Magnetcisuspension floats Amount wheel 15 side surface circumference of stator core is spherical surface, and spherical surface is slotted, and slot is embedded in coil, forms flywheel coil array 16；Mover flies Wheel 12 is annular spherical shell structure, and surfaces externally and internally is concentric spherical surface, can be with 13 side surface circumference spherical surface of Control for Magnetic Momentum Wheel stator Form uniform air gap.In flywheel coil array 16, be along the circumferential direction successively passed through phase be 0 °, 60 °, 120 ° ... just String alternating current, by the travelling-magnetic-field of the excitation rotation around flywheel stator core 15, the magnetic field is in 12 induced inside of mover flywheel Electromagnetic eddy out is acted in travelling-magnetic-field by Lorentz force, and driving mover flywheel 12 realizes magnetic suspension and is pivoted fortune It is dynamic.
Control for Magnetic Momentum Wheel stator 13 can also be used in 15 spherical surface arranging multiplayer coil array 18 of flywheel stator core Structure, along the circumferential direction compliance be passed through first phase be 0 °, 60 °, 120 ° ... of sinusoidal ac, will be in flywheel stator core 15 Surrounding excites rotary traveling wave magnetic field, goes out to be vortexed in 12 induced inside of mover flywheel, under Lorentz force effect, driving mover flywheel 12 carry out pivoting movement；To lattice coil array 18 be sequentially energized with first phase be 0 °, 60 °, 120 ° ... of simple alternating current Electricity will generate the travelling-magnetic-field axial along flywheel shaft 14, realize for mover flywheel 12 along axial translation and vertical axial Rotation driving, in spherical drive motor driven spherical shape mover 1 towards when changing, driving mover flywheel 12 realizes rotary shaft side together To adjustment, change 12 shaft space direction of mover flywheel, and then realize to spacecraft attitude multiple degrees of freedom adjustment ability.
As shown in fig. 6, axial direction electric machine 11 includes axial direction electric machine iron core 19 and axial direction electric machine coil array 20, axial direction electric machine iron Core 19, using being fixedly connected, keeps bottom surface on 20 surface of stator core outer rim coil array and mover flywheel 12 with flywheel shaft 14 Between form certain thickness even air gap.The sinusoidal ac of out of phase is passed through in axial direction electric machine coil array 20, it will be Rotating excitation field is generated in 19 surrounding air gap of axial direction electric machine iron core, induces vortex in the upper bottom surface of mover flywheel 12, and then right Mover flywheel 12 generates the auxiliary drive torque of axial driving force and circumferencial direction；The electric current for adjusting each coil simultaneously is big Small, upper and lower 11 collective effect of axial direction electric machine is, it can be achieved that mover flywheel 12 perpendicular to the rotation driving of axis direction, final realization For 12 six degree of freedom active control of mover flywheel.

Claims (10)

1.一种多自由度球形电动式磁悬浮动量轮，其特征在于：包括外部支承组件、球形驱动电机和内部电动式磁悬浮动量轮，其中：1. a multi-degree-of-freedom spherical electric magnetic levitation momentum wheel, characterized in that: comprise an external support assembly, a spherical drive motor and an internal electric magnetic levitation momentum wheel, wherein: 外部支承组件包括底部基座(4)，球面轴承(2)和侧面机架(5)；球形驱动电机包括球形驱动电机定子(3)和球形动子(1)；The external support assembly includes a bottom base (4), a spherical bearing (2) and a side frame (5); the spherical drive motor includes a spherical drive motor stator (3) and a spherical mover (1); 所述底部基座(4)对所述球形驱动电机定子(3)进行定位与固定；所述球面轴承(2)为所述球形动子(1)提供球面支承；所述侧面机架(5)连接并固定所述底部基座(4)与所述球面轴承(2)，保持球形驱动电机定子(3)与球形动子(1)间隙均匀。The bottom base (4) positions and fixes the spherical drive motor stator (3); the spherical bearing (2) provides spherical support for the spherical mover (1); the side frame (5) ) to connect and fix the bottom base (4) and the spherical bearing (2), and keep the gap between the spherical drive motor stator (3) and the spherical mover (1) uniform. 2.根据权利要求1所述的多自由度球形电动式磁悬浮动量轮装置，其特征在于：球形动子(1)由球形动子外壳(10)、球形动子内部供电端(9)和内部电动式磁悬浮动量轮组成，通过球形动子内部供电端(9)连接球形动子外壳(10)和内部电动式磁悬浮动量轮；球形动子内部供电端(9)连接外部电源，为球形动子(1)内部电动式磁悬浮动量轮供电。2. The multi-degree-of-freedom spherical electric magnetic levitation momentum wheel device according to claim 1, characterized in that: the spherical mover (1) consists of a spherical mover shell (10), an internal power supply end (9) of the spherical mover and an internal It is composed of an electric magnetic levitation momentum wheel, which is connected to the spherical mover shell (10) and the internal electric magnetic levitation momentum wheel through the inner power supply end (9) of the spherical mover; (1) Internal electric magnetic levitation momentum wheel power supply. 3.根据权利要求2所述的多自由度球形电动式磁悬浮动量轮装置，其特征在于：所述球形驱动电机定子(3)由球面定子铁芯(7)和线圈阵列(8)组成；球面定子铁芯(7)与球形动子外壳(10)同心布置，形成均匀的气隙。3. The multi-degree-of-freedom spherical electric magnetic levitation momentum wheel device according to claim 2, wherein the spherical drive motor stator (3) is composed of a spherical stator iron core (7) and a coil array (8); The stator iron core (7) and the spherical mover shell (10) are arranged concentrically to form a uniform air gap. 4.根据权利要求2所述的多自由度球形电动式磁悬浮动量轮装置，其特征在于：所述内部电动式磁悬浮动量轮包括动子飞轮(12)、磁悬浮动量轮定子(13)和轴向电机(11)。4. The multi-degree-of-freedom spherical electric magnetic levitation momentum wheel device according to claim 2, wherein the internal electric magnetic levitation momentum wheel comprises a mover flywheel (12), a magnetic levitation momentum wheel stator (13) and an axial motor (11). 5.根据权利要求4所述的多自由度球形电动式磁悬浮动量轮装置，其特征在于：所述动子飞轮(12)为环形球壳结构，内外表面均为球面，稳定磁悬浮时，外表面与球形动子外壳(10)同心。5. The multi-degree-of-freedom spherical electric magnetic levitation momentum wheel device according to claim 4, wherein the mover flywheel (12) is an annular spherical shell structure, and the inner and outer surfaces are spherical surfaces. Concentric with the spherical mover housing (10). 6.根据权利要求4所述的多自由度球形电动式磁悬浮动量轮装置，其特征在于：所述磁悬浮动量轮定子(13)由飞轮轴(14)、飞轮定子铁芯(15)和线圈阵列(16)组成，飞轮轴(14)连接磁悬浮动量轮定子(13)与外部球形动子外壳(10)，为内部电动式磁悬浮动量轮提供支承，在球形驱动电机驱动下，与球形动子外壳(10)一同旋转，改变动子飞轮(12)的转轴方向，同时通过导线连接球形动子内部供电端(9)，为内部电动式磁悬浮动量轮供电。6. The multi-degree-of-freedom spherical electric magnetic levitation momentum wheel device according to claim 4, wherein the magnetic levitation momentum wheel stator (13) is composed of a flywheel shaft (14), a flywheel stator iron core (15) and a coil array (16), the flywheel shaft (14) connects the magnetic suspension momentum wheel stator (13) and the outer spherical mover housing (10) to provide support for the internal electric magnetic suspension momentum wheel, and is driven by the spherical drive motor. (10) Rotate together to change the rotation axis direction of the mover flywheel (12), and at the same time connect the inner power supply terminal (9) of the spherical mover through a wire to supply power to the internal electric magnetic suspension momentum wheel. 7.根据权利要求6所述的多自由度球形电动式磁悬浮动量轮装置，其特征在于：所述飞轮定子铁芯(15)圆周侧面为球面，可与球形动子外壳(10)形成均匀的悬浮间隙，球面开槽，槽内嵌有飞轮线圈阵列(16)。7. The multi-degree-of-freedom spherical electric magnetic levitation momentum wheel device according to claim 6, characterized in that: the circumferential side surface of the flywheel stator iron core (15) is a spherical surface, which can form a uniform shape with the spherical mover shell (10). The suspension gap is slotted on the spherical surface, and a flywheel coil array (16) is embedded in the slot. 8.根据权利要求6所述的多自由度球形电动式磁悬浮动量轮装置，其特征在于：所述飞轮定子铁芯(15)圆周侧面为球面，可与球形动子外壳(10)形成均匀的悬浮间隙，飞轮定子铁芯(15)球形表面外布置多层线圈阵列(18)。8. The multi-degree-of-freedom spherical electric magnetic levitation momentum wheel device according to claim 6, characterized in that: the circumferential side surface of the flywheel stator iron core (15) is a spherical surface, which can form a uniform shape with the spherical mover shell (10). In the suspension gap, a multi-layer coil array (18) is arranged outside the spherical surface of the flywheel stator iron core (15). 9.根据权利要求4所述的多自由度球形电动式磁悬浮动量轮装置，其特征在于：所述轴向电机(11)包括轴向电机铁芯(19)和轴向电机线圈阵列(20)，轴向电机铁芯(19)与飞轮轴(14)采用固定连接，保持定子铁芯外缘线圈阵列(20)表面与动子飞轮(12)上下底面间形成一定厚度的均匀气隙。9 . The multi-degree-of-freedom spherical electric magnetic levitation momentum wheel device according to claim 4 , wherein the axial motor ( 11 ) comprises an axial motor iron core ( 19 ) and an axial motor coil array ( 20 ). 10 . , The axial motor iron core (19) and the flywheel shaft (14) are fixedly connected to maintain a uniform air gap of a certain thickness between the surface of the outer edge coil array (20) of the stator iron core and the upper and lower bottom surfaces of the mover flywheel (12). 10.根据权利要求1所述的多自由度球形电动式磁悬浮动量轮装置，其特征在于：所述球面轴承(2)为机械滚珠球面轴承，或机械滑动球面轴承，或气浮球面轴承。10. The multi-degree-of-freedom spherical electric magnetic suspension momentum wheel device according to claim 1, wherein the spherical bearing (2) is a mechanical ball spherical bearing, a mechanical sliding spherical bearing, or an air-floating spherical bearing.
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Cited By (5)

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CN109728696A (en) * 2019-03-20 2019-05-07 河北科技大学 Hybrid drive multi-stator multi-degree-of-freedom motor
CN109728696B (en) * 2019-03-20 2020-12-01 河北科技大学 Hybrid drive multi-stator multi-degree-of-freedom motor
CN110525692A (en) * 2019-08-30 2019-12-03 中国科学院西安光学精密机械研究所 Realize the counteraction flyback of the spaceborne integrated common drive executing agency of rapid scan
CN110683080A (en) * 2019-08-30 2020-01-14 北京航空航天大学 A magnetic suspension ball and bowl bearing device
CN112572832A (en) * 2020-11-26 2021-03-30 上海航天控制技术研究所 Synchronous three-axis attitude control magnetic suspension inertial executing mechanism
CN116853528A (en) * 2023-07-25 2023-10-10 上海卫星工程研究所 Anti-snagging protective cover and locking device for control torque gyro

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