CN109229424B - Multi-freedom-degree spherical electric magnetic suspension momentum wheel - Google Patents
Multi-freedom-degree spherical electric magnetic suspension momentum wheel Download PDFInfo
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- 230000005291 magnetic effect Effects 0.000 title claims abstract description 88
- 239000000725 suspension Substances 0.000 title claims abstract description 62
- 230000005520 electrodynamics Effects 0.000 claims abstract description 22
- 230000008859 change Effects 0.000 claims abstract description 5
- 238000005339 levitation Methods 0.000 claims description 13
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 10
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- 238000005299 abrasion Methods 0.000 description 1
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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
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Abstract
A multi-degree-of-freedom spherical electric magnetic suspension momentum wheel consists of an external supporting assembly, a spherical driving motor and an internal electric magnetic suspension momentum wheel; the external supporting assembly positions and fixes the spherical driving motor stator and provides spherical supporting for the spherical rotor; sinusoidal alternating currents with different phases are introduced into a stator coil array of the spherical driving motor to form traveling wave magnetic fields in different directions, the spatial orientation of the whole spherical rotor can be driven to change, and further the large-range adjustment of the spatial orientation of a rotating shaft of the magnetic suspension momentum wheel is realized; meanwhile, according to an electrodynamic driving principle, the internal electrodynamic magnetic suspension momentum wheel is stably suspended and integrally driven to rotate around the shaft, so that the rotating shaft direction and the rotating speed of the internal electrodynamic magnetic suspension momentum wheel are completely controlled, and finally, the multi-shaft active control of the attitude of the spacecraft can be realized.
Description
Technical Field
The invention relates to a multi-freedom spherical electrodynamic magnetic suspension momentum wheel which is used as a novel actuator of a spacecraft attitude control system.
Background
Momentum wheels and control moment gyros are widely applied to actuators of spacecraft attitude control systems. Each momentum wheel has a fixed rotating shaft orientation relative to the spacecraft and can provide the spacecraft with attitude control capability in a certain specific direction, so that the active control of the three-axis attitude of the spacecraft can be completely realized only by arranging at least 3 momentum wheels. Although the multi-frame control moment gyroscope can adjust the rotating shaft of the rotor, an external frame and a driving system thereof need to be added every time one adjusting degree of freedom is added, so that the whole structure is bulky and not compact. The two spacecraft actuator structures both occupy larger spacecraft space resources. Currently, with the expansion of the application range of the spacecraft, the small-sized spacecraft technology with small volume, light weight and low cost draws wide attention, and the traditional momentum wheel and control moment gyro structure cannot well meet the miniaturization trend of the spacecraft.
The patent with publication number CN104753273A, entitled magnetic suspension momentum sphere, discloses a reaction sphere for spacecraft attitude adjustment, which comprises a spherical shell shaped mover and three groups of stators. Three groups of stators are orthogonally arranged, and each group of stators is oppositely arranged around the rotor. Each stator iron core can provide thrust and torque along the axial direction of the stator, and the six stators cooperatively work to realize stable suspension and rotary driving of the spherical rotor, so that the structure is simple and compact. However, as for the momentum sphere configuration, deep analysis shows that when the spherical rotor rotates along any axis, the eddy current on the surface of the stator will cause extra electromagnetic resistance moment, which hinders the increase of the rotation speed of the spherical rotor, and the limit rotation speed of the rotor sphere of the structure is greatly limited, resulting in limited attitude adjustment capability for the spacecraft. The patent with the publication number of CN104176277A and the name of four-freedom-degree double-frame magnetic suspension control moment gyro provides a control moment gyro composed of a four-freedom-degree magnetic bearing, a high-speed motor, an inner frame and an outer frame, but the structure of the control moment gyro is complex, the moment motor is arranged at the end part of the frame to drive the frame to rotate, and the volume of the moment motor is larger, so that the whole double-frame magnetic suspension control moment gyro is huge in volume and occupies larger space resources of a spacecraft.
Disclosure of Invention
The technical problem solved by the invention is as follows: the defects of the prior art are overcome, and the multi-freedom-degree spherical electrodynamic type magnetic suspension momentum wheel is provided and used as a novel actuator of a spacecraft attitude control system. The system is simple and compact in structure, stable magnetic suspension and high-speed rotation driving of the flywheel rotor are achieved, meanwhile, the orientation of the spherical frame is adjusted by matching with an external spherical driving motor, large-range adjustment of the rotor flywheel rotating shaft space orientation is achieved, and the posture adjustment capability of the internal electrodynamic type magnetic suspension momentum wheel set spacecraft is greatly improved.
The technical solution of the invention is as follows:
including outside supporting component, spherical driving motor and inside electrodynamic type magnetic suspension momentum wheel, wherein: the external support assembly includes a bottom base, a spherical bearing and a side frame; the spherical driving motor comprises a spherical driving motor stator and a spherical rotor; the bottom base is used for positioning and fixing the spherical driving motor stator; the spherical bearing provides spherical support for the spherical rotor; the side frame is connected with and fixes the bottom base and the spherical bearing, and the gap between the spherical driving motor stator and the spherical rotor is kept uniform.
Furthermore, the multi-degree-of-freedom spherical electrodynamic type magnetic suspension momentum wheel device further comprises a spherical driving motor, and the spherical driving motor comprises a spherical driving motor stator and a spherical rotor.
Furthermore, the spherical rotor consists of a spherical rotor shell, an internal power supply end of the spherical rotor and an internal electric magnetic suspension momentum wheel, and the spherical rotor shell is connected with the internal electric magnetic suspension momentum wheel through the internal power supply end of the spherical rotor; and the power supply end inside the spherical rotor is connected with an external power supply to supply power to the electrodynamic magnetic suspension momentum wheel inside the spherical rotor.
Furthermore, the spherical driving motor stator consists of a spherical stator core and a coil array; the spherical stator core and the spherical rotor shell are concentrically arranged to form a uniform air gap; the method comprises the steps of selecting coil combinations at different positions in a coil array, introducing sinusoidal alternating currents with different phases, forming traveling wave magnetic fields in different directions in an air gap, inducing electromagnetic eddy currents in a spherical rotor shell, generating electromagnetic driving force and torque through interaction with the traveling wave magnetic fields, driving the spherical rotor to rotate, and changing the spatial orientation.
Furthermore, inside electrodynamic type magnetic suspension momentum wheel includes active cell flywheel, magnetic suspension momentum wheel stator, and axial motor.
Furthermore, the rotor flywheel adopts an annular spherical shell structure with proper thickness, the inner surface and the outer surface of the rotor flywheel are spherical surfaces, and when the rotor flywheel stably suspends, the outer surface of the rotor flywheel is concentric with the spherical rotor shell.
Furthermore, the magnetic suspension momentum wheel stator consists of a flywheel stator core and a flywheel coil array, the flywheel shaft is connected with the magnetic suspension momentum wheel stator and an external spherical rotor shell to provide support for the internal electric magnetic suspension momentum wheel, the magnetic suspension momentum wheel stator and the external spherical rotor shell rotate together under the drive of the spherical driving motor to change the rotating shaft direction of the rotor flywheel, and meanwhile, the magnetic suspension momentum wheel stator is connected with an internal power supply end of the spherical rotor through a lead to supply power for the internal electric magnetic suspension momentum wheel.
Furthermore, the circumferential side surface of the flywheel stator core is a spherical surface, a uniform suspension gap can be formed between the flywheel stator core and the spherical rotor shell, the spherical surface is provided with a groove, a flywheel coil array is embedded in the groove, sinusoidal alternating currents with different phases are introduced into the coil array in the groove, a magnetic field rotating along the circumferential direction is formed around the flywheel stator core, induced eddy currents are formed inside the annular spherical rotor flywheel, and the rotor flywheel is driven to realize magnetic suspension and rotation around a shaft under the action of Lorentz force.
Furthermore, the magnetic suspension momentum wheel stator can also adopt a structure that a plurality of layers of coil arrays are arranged on the surface of a spherical stator core, sine alternating currents with different phases are introduced along the circumferential direction, eddy currents are induced in the rotor flywheel, and the rotor flywheel is driven to perform stable magnetic suspension and axial rotation motion under the action of Lorentz force.
Furthermore, the axial motor is composed of an axial motor iron core and an axial motor coil array, the axial motor iron core is fixedly connected with the flywheel shaft, and a uniform air gap with a certain thickness is formed between the surface of the stator iron core outer edge coil array and the upper bottom surface and the lower bottom surface of the rotor flywheel. Sine alternating currents with different phases are introduced into the axial motor coil array, a rotating magnetic field is generated around an axial motor iron core, eddy currents are induced on the upper bottom surface and the lower bottom surface of the rotor flywheel, and further axial driving force and circumferential auxiliary driving torque are generated on the rotor flywheel; and meanwhile, the current of the coil is adjusted, and under the combined action of the upper axial motor and the lower axial motor, the rotor flywheel can be rotationally driven in the direction perpendicular to the axis, and finally, the six-degree-of-freedom active control of the rotor flywheel is realized.
Further, the spherical bearing is a mechanical ball spherical bearing, or a mechanical sliding spherical bearing, or an air-floating spherical bearing.
Compared with the prior art, the invention has the advantages that:
(1) the rotor flywheel adopts electrodynamic magnetic suspension, can realize high-speed rotation driving, greatly weakens mechanical vibration and abrasion in the high-speed rotation process of the flywheel, weakens nonlinear factors in the speed control process, and improves the attitude control precision of the spacecraft. And the fault-tolerant capability, the reliability and the service life of a spacecraft attitude control system can be obviously improved by configuring a plurality of multi-degree-of-freedom magnetic suspension momentum wheels.
(2) The electric magnetic suspension momentum wheel is fixedly connected with the spherical rotor shell of the spherical driving motor, and the spherical rotor is driven to change the space orientation by generating a traveling wave magnetic field moving in any direction through the spherical driving motor stator, so that the space orientation of the rotating shaft of the internal electric magnetic suspension momentum wheel is adjusted, and the large-range posture adjustment capability is provided for the spacecraft body.
(3) According to the invention, the spherical shell is adopted to realize large-range three-degree-of-freedom rotation driving under the driving of the external coil array, and compared with a double-frame control moment gyroscope, the whole volume is greatly reduced. Compared with a momentum wheel rotating with a single degree of freedom, the active control of the three-axis attitude of the spacecraft body can be realized by adopting fewer actuators, so that the whole actuator system is more compact and is more suitable for miniaturized spacecraft.
Drawings
FIG. 1 is a schematic view of a multi-degree-of-freedom spherical electrodynamic magnetic levitation momentum wheel according to the present invention.
Fig. 2 is a schematic view of the external support assembly.
Fig. 3A is a schematic structural diagram of a spherical driving motor stator.
Fig. 3B, 3C and 3D are driving schematic diagrams of the spherical driving motor stator forming traveling wave magnetic fields in different directions.
Fig. 4 is a schematic structural diagram of a spherical rotor and an internal magnetic suspension momentum wheel.
Fig. 5A and 5B are schematic diagrams illustrating the principle of the rotation driving of an internal electrodynamic magnetic levitation momentum wheel.
Fig. 5C and 5D are schematic structural diagrams of the first embodiment and the second embodiment of the magnetic levitation momentum wheel stator, respectively.
Fig. 6 is a schematic structural diagram of an internal electric magnetic suspension momentum wheel axial motor.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1, a multi-degree-of-freedom spherical electric magnetic levitation momentum wheel comprises an external supporting assembly, a spherical driving motor and an internal electric magnetic levitation momentum wheel; the spherical driving motor comprises a spherical rotor 1 and a spherical driving motor stator 3.
As shown in fig. 2, the external support assembly structure comprises a bottom base 4, a side frame 5 and a spherical bearing 2; the spherical rotor 1 is supported by a spherical bearing 2, and the spherical driving motor stator 3 is positioned and fixed by a bottom base 4; the bottom base 4 is connected with the spherical bearing 2 through the side frame 5, so that a uniform air gap can be formed between the spherical rotor 1 and the spherical driving motor stator 3; the spherical bearing 2 can be realized by a spherical ball bearing, a spherical sliding bearing or a spherical air bearing.
As shown in fig. 3, the spherical drive motor stator 3 includes a spherical stator core 7 and a coil array 8. The inner surface of the spherical stator core 7 is a spherical surface, the spherical surface is provided with slots in an array manner, and coils are embedded to form a spherical coil array 8. The spherical stator core 7 and the spherical rotor shell 10 are concentrically arranged to form a uniform air gap. The combination of coils at different positions in the coil array 8 is selected, and sine alternating currents with different phases are introduced, so that traveling wave magnetic fields in different directions can be formed above the spherical stator core 7, namely in the air gap. The travelling wave magnetic field induces eddy currents in the electrically conductive non-ferromagnetic spherical mover housing 10. The electromagnetic driving force and the torque are generated by interaction with a traveling wave magnetic field, the spherical rotor 1 is driven to realize three-degree-of-freedom rotary motion under the action of Lorentz force, the spatial orientation of the spherical rotor is changed, and the spatial orientation of the rotating shaft of the internal electrodynamic type magnetic suspension momentum wheel is adjusted.
As shown in fig. 4, the spherical mover includes an internal power supply terminal 9 of the spherical mover, a spherical mover housing 10, and an internal electric magnetic levitation momentum wheel. The spherical rotor inner power supply end 9 fixedly connects the spherical rotor shell 10 with the inner electric magnetic suspension momentum wheel. Meanwhile, power supply to the internal electrodynamic type magnetic suspension momentum wheel is realized.
As shown in fig. 4 and 5, the internal electric magnetic levitation momentum wheel includes a rotor flywheel 12, a magnetic levitation momentum wheel stator 13 and an axial motor 11. The rotor flywheel 12 is of an annular spherical shell structure, the inner surface and the outer surface of the rotor flywheel are spherical surfaces, and the outer surface of the rotor flywheel is concentric with the spherical rotor shell 10 when magnetic suspension is stabilized; the magnetic suspension momentum wheel stator 13 is composed of a flywheel shaft 14, a flywheel stator core 15 and a flywheel coil array 16. The flywheel shaft 14 connects the flywheel stator core 15 with the spherical rotor shell 10, is driven by the spherical driving motor to rotate, and supplies power to the internal electric magnetic suspension momentum wheel through the internal power supply end 9 of the spherical rotor; the circumference of the side surface of a stator core 15 of the magnetic suspension momentum wheel is a spherical surface, the spherical surface is provided with a groove, and coils are embedded in the groove to form a flywheel coil array 16; the rotor flywheel 12 is of an annular spherical shell structure, the inner surface and the outer surface of the rotor flywheel are concentric spherical surfaces, and uniform air gaps can be formed between the rotor flywheel and the circumferential spherical surfaces on the side surfaces of the magnetic suspension momentum wheel stator 13. In the flywheel coil array 16, sinusoidal alternating currents with phases of 0 °, 60 °, and 120 ° … … are sequentially introduced along the circumferential direction, a rotating traveling wave magnetic field is excited around the flywheel stator core 15, the magnetic field induces electromagnetic eddy currents in the mover flywheel 12, and the mover flywheel 12 is driven to realize magnetic levitation and axial rotation motion under the action of lorentz force in the traveling wave magnetic field.
The magnetic suspension momentum wheel stator 13 can also adopt a structure that a plurality of layers of coil arrays 18 are arranged on the spherical surface of a flywheel stator iron core 15, sine alternating current with initial phases of 0 degrees, 60 degrees and 120 degrees … … is fed in along the circumferential direction in a compliance manner, a rotary traveling wave magnetic field is excited around the flywheel stator iron core 15, eddy current is induced inside the rotor flywheel 12, and the rotor flywheel 12 is driven to rotate around the shaft under the action of Lorentz force; sine alternating currents with initial phases of 0 degrees, 60 degrees and 120 degrees … … are sequentially introduced into the multilayer coil array 18, a traveling wave magnetic field along the axial direction of the flywheel shaft 14 is generated, the translation and the rotation driving perpendicular to the axial direction of the rotor flywheel 12 are realized, when the spherical rotor 1 is driven by the spherical driving motor to change the direction, the rotor flywheel 12 is driven to realize the adjustment of the rotating shaft direction together, the rotating shaft space direction of the rotor flywheel 12 is changed, and the spacecraft posture multi-degree-of-freedom adjustment capability is further realized.
As shown in fig. 6, the axial motor 11 includes an axial motor core 19 and an axial motor coil array 20, the axial motor core 19 is fixedly connected to the flywheel shaft 14, and a uniform air gap with a certain thickness is formed between the surface of the stator core outer edge coil array 20 and the upper and lower bottom surfaces of the rotor flywheel 12. Sine alternating currents with different phases are introduced into the axial motor coil array 20, a rotating magnetic field is generated in air gaps around the axial motor iron core 19, eddy currents are induced on the upper bottom surface and the lower bottom surface of the rotor flywheel 12, and further axial driving force and circumferential auxiliary driving torque are generated on the rotor flywheel 12; meanwhile, the current of each coil is adjusted, and the upper axial motor 11 and the lower axial motor act together to realize the rotary driving of the rotor flywheel 12 in the direction perpendicular to the axis, and finally realize the six-degree-of-freedom active control of the rotor flywheel 12.
Claims (5)
1. The utility model provides a spherical electrodynamic type magnetic suspension momentum wheel of multi freedom which characterized in that: including outside supporting component, spherical driving motor and inside electrodynamic type magnetic suspension momentum wheel, wherein:
the external bearing assembly comprises a bottom base (4), a spherical bearing (2) and a side frame (5);
the spherical driving motor comprises a spherical driving motor stator (3) and a spherical rotor (1);
the bottom base (4) positions and fixes the spherical driving motor stator (3); the spherical bearing (2) provides spherical support for the spherical rotor (1); the side frame (5) is connected with and fixes the bottom base (4) and the spherical bearing (2) to keep the uniform gap between the spherical driving motor stator (3) and the spherical rotor (1);
the spherical rotor (1) consists of a spherical rotor shell (10), a spherical rotor internal power supply end (9) and an internal electric magnetic suspension momentum wheel, and the spherical rotor shell (10) and the internal electric magnetic suspension momentum wheel are connected through the spherical rotor internal power supply end (9); the power supply end (9) inside the spherical rotor is connected with an external power supply and supplies power to the electrodynamic type magnetic suspension measuring wheel inside the spherical rotor (1);
the internal electric magnetic suspension momentum wheel comprises a rotor flywheel (12), a magnetic suspension momentum wheel stator (13) and an axial motor (11); the magnetic suspension momentum wheel stator (13) consists of a flywheel shaft (14), a flywheel stator core (15) and a coil array, the flywheel shaft (14) is connected with the magnetic suspension momentum wheel stator (13) and an external spherical rotor shell (10) to provide support for an internal electric magnetic suspension momentum wheel, and the internal electric magnetic suspension momentum wheel stator and the spherical rotor shell (10) rotate together under the drive of a spherical driving motor to change the rotating shaft direction of a rotor flywheel (12), and is simultaneously connected with an internal power supply end (9) of a spherical rotor through a lead to supply power for the internal electric magnetic suspension momentum wheel; the spherical driving motor stator (3) consists of a spherical stator core (7) and a spherical coil array (8); the spherical stator core (7) and the spherical rotor shell (10) are concentrically arranged to form a uniform air gap;
the rotor flywheel (12) is of an annular spherical shell structure, the inner surface and the outer surface of the rotor flywheel are spherical surfaces, and the outer surface of the rotor flywheel is concentric with the spherical rotor shell (10) when magnetic suspension is stabilized.
2. The multi-degree-of-freedom spherical electrodynamic magnetic levitation momentum wheel of claim 1, wherein: the flywheel stator core (15) is characterized in that the circumferential side surface is a spherical surface, uniform suspension gaps can be formed between the flywheel stator core and the spherical rotor shell (10), the spherical surface is provided with grooves, and flywheel coil arrays (16) are embedded in the grooves.
3. The multi-degree-of-freedom spherical electrodynamic magnetic levitation momentum wheel of claim 1, wherein: the circumference side of the flywheel stator core (15) is a spherical surface, an even suspension gap can be formed between the flywheel stator core and the spherical rotor shell (10), and a multilayer coil array (18) is arranged outside the spherical surface of the flywheel stator core (15).
4. The multi-degree-of-freedom spherical electrodynamic magnetic levitation momentum wheel of claim 1, wherein: the axial motor (11) comprises an axial motor iron core (19) and an axial motor coil array (20), the axial motor iron core (19) is fixedly connected with the flywheel shaft (14), and an even air gap with a certain thickness is formed between the surface of the axial motor coil array (20) and the upper bottom surface and the lower bottom surface of the rotor flywheel (12).
5. The multi-degree-of-freedom spherical electrodynamic magnetic levitation momentum wheel of claim 1, wherein: the spherical bearing (2) is a mechanical ball spherical bearing, or a mechanical sliding spherical bearing, or an air-float spherical bearing.
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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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| CN201811066863.3A CN109229424B (en) | 2018-09-13 | 2018-09-13 | Multi-freedom-degree spherical electric magnetic suspension momentum wheel |
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| CN109229424B true CN109229424B (en) | 2020-10-27 |
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| CN109728696B (en) * | 2019-03-20 | 2020-12-01 | 河北科技大学 | Hybrid-driven multi-stator multi-degree-of-freedom motor |
| CN110683080A (en) * | 2019-08-30 | 2020-01-14 | 北京航空航天大学 | Magnetic suspension ball bowl bearing device |
| 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 |
| CN112572832B (en) * | 2020-11-26 | 2022-09-16 | 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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| US4961352A (en) * | 1988-02-24 | 1990-10-09 | Satcon Technology Corporation | Magnetic bearing and suspension system |
| GB0511268D0 (en) * | 2005-06-02 | 2005-07-13 | Minebea Co Ltd | A spherical bearing arrangement |
| GB2433098B (en) * | 2005-12-07 | 2007-10-17 | Minebea Co Ltd | A spherical bearing arrangement |
| CN102237834B (en) * | 2011-03-25 | 2013-10-23 | 哈尔滨工业大学 | MDOF (multiple-degree-of-freedom) magnetic suspension motor |
| CN102195537A (en) * | 2011-06-03 | 2011-09-21 | 扬州大学 | Partitioned winding magnetic suspension spherical induction motor |
| CN202160025U (en) * | 2011-07-29 | 2012-03-07 | 上海理工大学 | Multi-freedom degree spherical motor |
| CN104295605A (en) * | 2014-09-23 | 2015-01-21 | 哈尔滨工程大学 | Annular belt compound throttling static-pressure air spherical bearing |
| CN105811809B (en) * | 2014-12-31 | 2018-03-02 | 上海微电子装备（集团）股份有限公司 | Magnetic floats electric rotating machine |
| CN205319903U (en) * | 2016-01-14 | 2016-06-15 | 河南理工大学 | Spherical induction machine of multi freedom |
| CN106602788B (en) * | 2016-12-29 | 2019-02-05 | 江苏大学 | A kind of spherical shape magnetic suspending flying wheel battery for electric vehicle |
| CN106655605B (en) * | 2016-12-29 | 2019-04-02 | 江苏大学 | Sandwich magnetic suspending flying wheel battery for electric vehicle and working method |
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