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 PDFInfo
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- 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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- 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
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- 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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- 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
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. a kind of multi-degree of freedom spherical electrodynamic levitation momenttum wheel, it is characterised in that: including external support component, spherical drive
Motor and internal electrodynamic levitation momenttum wheel, in which:
External support component includes bottom base (4), spherical bearing (2) and side frame (5)；Spherical drive motor includes spherical shape
Driving motor stator (3) and spherical mover (1)；
The bottom base (4) is positioned and is fixed to the spherical drive motor stator (3)；The spherical bearing (2) is
The spherical shape mover (1) provides self-aligning spherical support；The side frame (5) connects and fixes the bottom base (4) and the ball
Spherical bearing (2) keeps spherical drive motor stator (3) and spherical mover (1) gap uniform.
2. multi-degree of freedom spherical electrodynamic levitation momentum wheel apparatus according to claim 1, it is characterised in that: spherical shape is dynamic
Sub (1) is made of spherical mover shell (10), spherical mover in-line power end (9) and internal electrodynamic levitation momenttum wheel, is led to
It crosses spherical mover in-line power end (9) and connects spherical mover shell (10) and internal electrodynamic levitation momenttum wheel；Spherical mover
In-line power end (9) connects external power supply, for the internal electrodynamic levitation momenttum wheel power supply of spherical mover (1).
3. multi-degree of freedom spherical electrodynamic levitation momentum wheel apparatus according to claim 2, it is characterised in that: the ball
Shape driving motor stator (3) is made of spherical surface stator core (7) and coil array (8)；Spherical surface stator core (7) and spherical mover
Shell (10) arranged concentric, forms uniform air gap.
4. multi-degree of freedom spherical electrodynamic levitation momentum wheel apparatus according to claim 2, it is characterised in that: in described
Portion's electrodynamic levitation momenttum wheel includes mover flywheel (12), Control for Magnetic Momentum Wheel stator (13) and axial direction electric machine (11).
5. multi-degree of freedom spherical electrodynamic levitation momentum wheel apparatus according to claim 4, it is characterised in that: described dynamic
Sub- flywheel (12) is annular spherical shell structure, and surfaces externally and internally is spherical surface, when stablizing magnetic suspension, outer surface and spherical mover shell
(10) with one heart.
6. multi-degree of freedom spherical electrodynamic levitation momentum wheel apparatus according to claim 4, it is characterised in that: the magnetic
Suspension momenttum wheel stator (13) is made of flywheel shaft (14), flywheel stator core (15) and coil array (16), flywheel shaft (14)
Control for Magnetic Momentum Wheel stator (13) and external spherical mover shell (10) are connected, provide branch for internal electrodynamic levitation momenttum wheel
It holds, under spherical drive motor driven, is rotated together with spherical mover shell (10), change the shaft side of mover flywheel (12)
To, while spherical mover in-line power end (9) is connected by conducting wire, it powers for internal electrodynamic levitation momenttum wheel.
7. multi-degree of freedom spherical electrodynamic levitation momentum wheel apparatus according to claim 6, it is characterised in that: described to fly
Wheel stator core (15) circumference side is spherical surface, and uniform levitation gap can be formed with spherical mover shell (10), and spherical surface is slotted,
Slot is embedded with flywheel coil array (16).
8. multi-degree of freedom spherical electrodynamic levitation momentum wheel apparatus according to claim 6, it is characterised in that: described to fly
Wheel stator core (15) circumference side is spherical surface, can form uniform levitation gap, flywheel stator with spherical mover shell (10)
The outer arranging multiplayer coil array (18) of iron core (15) spherical surface.
9. multi-degree of freedom spherical electrodynamic levitation momentum wheel apparatus according to claim 4, it is characterised in that: the axis
It include axial direction electric machine iron core (19) and axial direction electric machine coil array (20) to motor (11), axial direction electric machine iron core (19) and flywheel shaft
(14) it using being fixedly connected, keeps being formed between bottom surface on stator core outer rim coil array (20) surface and mover flywheel (12)
Certain thickness even air gap.
10. multi-degree of freedom spherical electrodynamic levitation momentum wheel apparatus according to claim 1, it is characterised in that: described
Spherical bearing (2) is mechanical ball spherical bearing or mechanical slip spherical bearing or air float spherical bearing.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811066863.3A CN109229424B (en) | 2018-09-13 | 2018-09-13 | Multi-freedom-degree spherical electric magnetic suspension momentum wheel |
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|---|---|---|---|
| CN201811066863.3A CN109229424B (en) | 2018-09-13 | 2018-09-13 | Multi-freedom-degree spherical electric magnetic suspension momentum wheel |
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| CN109229424B CN109229424B (en) | 2020-10-27 |
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Cited By (4)
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| CN109728696A (en) * | 2019-03-20 | 2019-05-07 | 河北科技大学 | Hybrid-driven multiple stators multi-freedom electric 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 | Magnetic suspension ball 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 |
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| CN109728696A (en) * | 2019-03-20 | 2019-05-07 | 河北科技大学 | Hybrid-driven multiple stators multi-freedom electric motor |
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| 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 |
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| 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 |
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| CN109229424B (en) | 2020-10-27 |
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