CN110481819B - Micro-gravity experiment platform based on halbach array permanent magnet - Google Patents
Micro-gravity experiment platform based on halbach array permanent magnet Download PDFInfo
- Publication number
- CN110481819B CN110481819B CN201910777155.9A CN201910777155A CN110481819B CN 110481819 B CN110481819 B CN 110481819B CN 201910777155 A CN201910777155 A CN 201910777155A CN 110481819 B CN110481819 B CN 110481819B
- Authority
- CN
- China
- Prior art keywords
- permanent magnet
- halbach array
- servo motor
- pressure sensor
- gravity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention provides a micro-gravity experiment platform based on a halbach array permanent magnet, which comprises an experiment table, a servo motor, a permanent magnet, a pressure sensor, a conductor supporting surface, a feedback controller, a power supply and a gap detector, wherein the servo motor is arranged on the experiment table; a test main body is placed on the conductor supporting surface, a pressure sensor and a servo motor are arranged on the test main body, the gravity environment is monitored through the pressure sensor, and a permanent magnet is installed on a rotating shaft of the servo motor; a feedback controller is arranged at the upper part of the test main body and is respectively connected with the pressure sensor, the servo motor and the gap detector; the clearance detector is installed on the spacecraft base, detects the distance between permanent magnet and the ground, prevents the dangerous condition that the permanent magnet rubs the ground when the high both ends low road conditions in the middle appear in the in-process of traveling. And simultaneously, the method is also used for prejudging the terrain. The invention has simple structure and high gravity compensation precision, and the special physical properties of the halbach array permanent magnet provide favorable conditions for experiments.
Description
Technical Field
The invention relates to a gravity experiment platform, in particular to a micro-gravity experiment platform based on halbach array permanent magnets.
Background
It is known that the lunar environment is characterized by low gravity, and lunar vehicles and other equipment in the lunar environment are affected by the low gravity. The difference of gravity is an important difference between the lunar environment and the earth environment, and the low gravity on the moon can directly influence the performance of the moving system of the lunar exploration vehicle. Therefore, the establishment of the low-gravity experimental environment has important significance for the performance test of the lunar vehicle moving system.
At present, the low gravity simulation method mainly comprises the following steps: the falling tower method, the parabolic flight method, the water float method, the air float method, and the suspension method. The suspension method and the air floatation method are suitable for obstacle crossing and obstacle avoidance experiments of the lunar vehicle.
Wherein, the suspension method utilizes the suspension mechanism to compensate five sixths of gravity of the whole vehicle. At present, the method is technically mature and has a plurality of successful application cases. However, the method has the defects of complexity of a supporting mechanism, difficulty in arrangement of supporting surfaces, high requirement on processing precision and large occupied area; in particular, the dynamic friction force of the suspension system is difficult to identify, so that the suspension system cannot realize accurate compensation in the control system; meanwhile, the following hysteresis motion of the flexible rope and the coupling of the flexible shaking cannot be completely eliminated and other adverse factors exist.
The air floatation method carries out gravity compensation simulation by utilizing the advantages that the air floatation bearing has extremely small friction, very high working precision, wide working range and is suitable for severe working environment. However, the method cannot perform a low-gravity simulation experiment of the whole lunar rover, and generally performs a single-wheel low-gravity simulation experiment, and then balances five sixths of gravity of wheels and corresponding structures through balance weights, so as to simulate the actual working condition of the lunar rover under microgravity.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a microgravity experiment platform based on halbach array permanent magnets, which is simple in space structure, small in occupied area, strong in universality and low in maintenance cost, and can be used for carrying out low-gravity simulation test on a whole moon vehicle.
The technical scheme of the invention is as follows:
a microgravity experiment platform based on a halbach array permanent magnet comprises an experiment table, a servo motor, a permanent magnet, a pressure sensor, a conductor supporting surface, a feedback controller, a power supply and a gap detector, wherein the conductor supporting surface is used as a supporting platform and is placed on the experiment table; a test main body is placed on the conductor supporting surface, a pressure sensor and a servo motor are arranged on the test main body, the gravity environment is monitored through the pressure sensor, and the permanent magnet is installed on a rotating shaft of the servo motor; the feedback controller is arranged at the upper part of the test main body and is respectively connected with the pressure sensor, the servo motor and the gap detector; the gap detector is installed on the spacecraft base, detects the distance between the permanent magnet and the ground, and prevents the dangerous condition that the permanent magnet rubs the ground when the road condition that the middle is high and the two ends are low in the driving process. And simultaneously, the method is also used for prejudging the terrain.
Preferably, the permanent magnet is a disc-type halbach array permanent magnet.
Preferably, the upper surface of the conductor supporting surface is provided with a simulation layer.
Preferably, the simulation layer comprises broken stones, fine sand and other simulators capable of simulating the real condition of the surface of the moon.
Preferably, the test main body is a lunar vehicle, the lunar vehicle comprises a vehicle body and a plurality of support legs, the pressure sensor is mounted on each support leg, and whether the vehicle body is in a gravity environment of one sixth of the earth gravity is detected through the pressure sensor.
Preferably, the upper surface of the conductor supporting platform is an arc surface, and the curvatures of points on the arc surface are equal or unequal, so as to simulate the shape of the surface of a real moon; the lower surface of the supporting platform is a plane so that the conductor supporting surface can be stably placed on the experiment table.
Preferably, the servo motors are arranged on the front and rear car walls of the test main body, and the positions of the servo motors are symmetrical.
Preferably, brackets are arranged on the front and rear walls of the test body so as to fix the servo motors.
Preferably, a disc-type halbach array permanent magnet is mounted on the rotary output shaft of each servo motor.
Preferably, a control circuit, a feedback controller and a power supply are arranged at the upper part of the box body of the test main body, so as to form a suspension structure, and the suspension structure provides suspension force.
Compared with the prior art, the invention has the following advantages:
the invention has the advantages of simple structure, high gravity compensation precision, and the unique physical properties of the halbach array permanent magnet provide favorable conditions for experiments, so that the whole lunar vehicle can perform the experiments of obstacle crossing, obstacle avoidance and the like in a microgravity environment, and the invention has the characteristics of simple structure, low maintenance cost, strong universality and the like. The experimental device avoids the defects that a suspension method is complex and large in structure, poor in follow-up performance, only part of vehicle bodies in an air floatation method are in a low gravity state and the like by fully utilizing the halbach array permanent magnet, the Lorentz force law and the Lenz law. The experimental device provides a simpler, easy-to-operate and highly-accurate solution for ground research on obstacle avoidance and obstacle avoidance capacity of the lunar vehicle.
Drawings
FIG. 1 is a schematic axial view of a micro-gravity experiment platform based on halbach array permanent magnets according to the invention;
FIG. 2 is a schematic perspective view of a micro-gravity experiment platform based on halbach array permanent magnets according to the invention;
FIG. 3 is a front view of a halbach array permanent magnet based microgravity experimental platform according to the present invention; and
FIG. 4 is a schematic diagram of a splice setup performed to provide a desired magnetic field in an embodiment of the present invention.
In the figure: the device comprises a servo motor 1, a disk type halbach array permanent magnet 2, a pressure sensor 3, a conductor support surface 4, a feedback controller 5, a power supply 6 and a gap detector 7.
Detailed Description
Exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The microgravity experiment platform based on the halbach array permanent magnet comprises an experiment table, a servo motor 1, a permanent magnet, a pressure sensor 3, a conductor supporting surface 4, a feedback controller 5, a power supply 6 and a gap detector 7. The conductor support surface 4 is placed on the laboratory bench as a support platform. A test main body is placed on a conductor supporting surface, a pressure sensor 3 and a servo motor 1 are arranged on the test main body, the gravity environment is monitored through the pressure sensor 3, and a permanent magnet is installed on a rotating shaft of the servo motor 1; a feedback controller 5 is arranged at the upper part of the test main body, and the feedback controller 5 is respectively connected with the pressure sensor 3, the servo motor 1 and the gap detector 7.
Preferably, the permanent magnet is a disk-type halbach array permanent magnet 2.
Preferably, the upper surface of the conductor support surface 4 is provided with a simulation layer, and the simulation layer preferably comprises gravels, fine sand and other simulators capable of simulating the real condition of the surface of the moon. A test body, for example a lunar vehicle, is placed on the conductor support surface. A test subject, for example, a lunar vehicle, includes a vehicle body and a plurality of legs, a pressure sensor 3 is mounted on each leg, and whether the vehicle body is in a gravitational environment of one sixth of the earth's gravity is detected by the pressure sensor 3.
Preferably, the upper surface of the conductor supporting platform is a circular arc surface, and the curvatures of points on the circular arc surface are equal or unequal, so as to simulate the shape of the surface of a real moon. The lower surface of the supporting platform is a plane so that the conductor supporting surface can be stably placed on the experiment table.
The servo motors 1 are provided on front and rear walls of a test body, for example, a lunar vehicle, and the positions of the respective servo motors 1 are symmetrical.
Preferably, the test subject, for example, a lunar vehicle, is provided with brackets on the front and rear walls thereof to fix the respective servo motors.
The rotating shaft of each servo motor, for example, an output shaft is provided with a disk-type halbach array permanent magnet. A control circuit and a feedback controller 5 and a power supply 6 are provided in the upper part of the test subject, for example, the housing of a lunar vehicle, so as to constitute a levitation structure, which provides a levitation force.
Specifically, as shown in fig. 1, 2 and 3, the whole low-gravity simulation experiment device comprises four servo motors 1, four disc-type halbach array permanent magnets 2, four pressure sensors 3, a conductor supporting surface 4, a feedback controller 5, a power supply 6 and two gap detectors 7. Wherein the conductor supporting surface 4 is placed on the experiment table as a supporting platform, and broken stone blocks, fine sand and the like are coated on the conductor supporting surface to simulate the real situation of the lunar surface. And placing an experimental main body lunar rover on the conductor supporting surface. A pressure sensor 3 is installed at each leg of the lunar vehicle to detect whether the entire vehicle body is in a one sixth earth gravity environment. The four servo motors 1 are respectively arranged on the front wall and the rear wall of the lunar vehicle, and are symmetrical and fixed in position. And a permanent magnet 2 of a disk-type halbach array is arranged on a rotating shaft of each servo motor 1. The upper part of the lunar carriage body is provided with a control circuit, a feedback controller 5 and a power supply 6. Thus constituting the whole suspension structure. The suspension assembly is responsible for providing the suspension force as a whole, and the electric control component and the pressure sensor 3 are responsible for controlling the suspension force applied to the trolley in the operation process.
The servo motor 1 drives the disc-type halbach array permanent magnet 2 to rotate at a high speed, magnetic induction lines cut on the conductor supporting surface 4 to generate eddy currents, and the eddy currents excite induction magnetic fields which are in mirror symmetry with corresponding magnetic fields in the permanent magnet array and then generate repulsive force with the permanent magnet array. Wherein, a servo motor 1 with high rotating speed, light weight and large torque is adopted to resist tangential magnetic resistance; the disk-type halbach array permanent magnet 2 is formed by selecting rubidium, iron and boron cubes, splicing and building the cubes according to a mode shown in figure 4 to provide a required magnetic field, and the method comprises the following specific steps:
each magnet has a direction, the direction of the outgoing magnetic induction lines is defined as a forward direction, the directions of the cubic magnets are combined with each other, the distribution of the magnetic induction lines of the combined magnets is changed, one side magnetic field is strengthened, the one side magnetic field is weakened, the disk-type halbach permanent magnet is unfolded along a certain cross section, the arrangement direction of each magnet is ≠ → ↓ ← → ↓. Preferably, only 8 permanent magnets are arranged to form a halbach array permanent magnet in consideration of the limited volume.
Preferably, the rare earth magnet has a higher magnetic induction than a general permanent magnet, and rubidium, iron and boron are typical rare earth magnets. And performing simulation calculation by using ANSYS Maxwell to obtain that the magnetic induction intensity close to the halbach array permanent magnet is in the range of 0.8-1.05T and can reach 1.05T at most.
The pressure sensor 3 is a ceramic pressure sensor and is characterized by high measurement precision and good stability. The setting range is 100 KPa. The full temperature range accuracy is 0.5% FS. Stability. + -. 0.05% FS. The selection of a sensor with high sensitivity is also the key point for realizing precise control.
The initial value of the sensor is preset, namely the suspension force required by the experiment is predetermined. The rotation speed of the servo motor 1, the height of the magnetic gap and the initial value of the pressure sensor 3 are determined according to the required levitation force, such as the value of the magnetic levitation force. During the experiment, the value of the pressure sensor 3 is monitored in real time and compared with the initial value. When the real-time monitoring value of the pressure sensor 3 is larger than the preset initial value of the pressure sensor 3, the feedback controller 5 starts to control the servo motor 1 to increase the rotating speed. When the value of the pressure sensor 3 is lower than the initial value, the feedback controller 5 starts the servo motor 1 to reduce the rotating speed of the servo motor 1, and the dynamic constant of the suspension force is ensured through closed-loop real-time control.
Aiming at the requirements of low-gravity obstacle avoidance and obstacle crossing simulation experiments of a lunar vehicle on the ground, the invention provides a brand-new solution, namely, the invention utilizes the magnetic suspension gravity compensation principle based on halbach array permanent magnets to solve the outstanding problems that the suspension method has complex structure, low precision and rope follow-up shaking coupling, and the air floatation method cannot perform whole vehicle experiments and the like.
The invention fully utilizes the relevant theories of the permanent magnet structure of the halbach array permanent magnet, the Lorentz force theorem, the Lenz law and the like to construct the magnetic suspension control module, and utilizes the magnetic suspension force in the magnetic suspension to compensate the gravity of five sixths of the whole vehicle so as to realize the experimental aim. The system comprises four sets of independently controlled magnetic suspension gravity compensation structures, and the whole structure is symmetrically arranged; the magnetic suspension gravity compensation system comprises a servo motor, a halbach array permanent magnet, a conductor supporting surface, a force sensor or a pressure sensor, a feedback controller and a gap detector, and has the basic principle that the rapidly moving permanent magnet array is utilized to enable the supporting surface conductor and the permanent magnet to generate relative motion, magnetic induction lines are cut, induction currents are generated on the conductor supporting surface, the induction currents excite induction magnetic fields which are in mirror symmetry with corresponding magnetic fields in the permanent magnet array, and then repulsive force is generated between the induction magnetic fields and the permanent magnet array.
The servo motor changes the rotating speed of the system according to the detection feedback signal of the system, so that the eddy current generated when the permanent magnet cuts the magnetic induction lines is changed, and finally the size of the induction magnetic field is changed. The purpose is to ensure the magnetic suspension force for compensating gravity to be continuously stable.
The halbach array permanent magnet is a permanent magnet connected in a special direction, the magnetic field intensity of an original magnet can be amplified, the magnetic induction lines are more dense when the magnetic field intensity is larger under the condition that the size of the permanent magnet is not changed, and the magnetic levitation force is larger when the induction magnetic field generated by cutting the magnetic induction lines at the same speed is larger. The permanent magnet has a unilateral effect, namely, the magnetic fields on two sides of the permanent magnet are changed, one side is obviously strengthened, and the other side is obviously weakened; in addition, the device has self-shielding performance, so that the influence on equipment inside the lunar rover is reduced. The finally generated electromagnetic wave has a sine characteristic, and the electromagnetic wave with the sine characteristic is easier to control and calculate the generated magnetic levitation force.
The conductor supporting surface is a physical structure imitating a lunar surface, the motor drives the permanent magnet to rotate the magnetic flux in the conductor to change and generate a changed induced current, the changed current generates a changed magnetic field, and the induced magnetic field and an original magnetic field mirror image repel each other.
The pressure sensors are arranged on the front and rear four supporting legs and used for detecting whether the required microgravity environment is achieved or not, and the effect generated by the magnetic suspension force is detected, so that a control signal is sent out and transmitted to the controller.
The feedback controller, for example, a feedback closed-loop controller, converts the detected mechanical signal into an electrical signal and transmits the electrical signal to the servo motor, and controls the rotation speed of the motor, thereby controlling the magnetic levitation force to fluctuate within a stable range. According to the invention, one pressure sensor, one servo motor and one halbach array permanent magnet are taken as one set of magnetic suspension device, and four sets of devices are respectively and independently controlled, so that the problem that each wheel is stressed differently due to uneven ground is solved.
The clearance detector is installed on the base of spacecraft, for example, lunar vehicle, and detects the distance between the permanent magnet and the ground, and the dangerous condition that the permanent magnet rubs the ground when the road condition that the middle is high and the two ends are low is prevented in the driving process. And simultaneously, the method is also used for prejudging the terrain.
Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A microgravity experiment platform based on a halbach array permanent magnet is characterized by comprising an experiment table, a servo motor, a permanent magnet, a pressure sensor, a conductor supporting surface, a feedback controller, a power supply and a gap detector, wherein the permanent magnet is a disc-type halbach array permanent magnet; the conductor supporting surface is used as a supporting platform and is placed on the experiment table; a test main body is placed on the conductor supporting surface, a pressure sensor and a servo motor are arranged on the test main body, the gravity environment is monitored through the pressure sensor, and the permanent magnet is installed on a rotating shaft of the servo motor; the feedback controller is arranged at the upper part of the test main body and is respectively connected with the pressure sensor, the servo motor and the gap detector; the gap detector is arranged on a spacecraft base, detects the distance between the permanent magnet and the ground, prevents the dangerous condition that the permanent magnet rubs the ground when the road condition is high in the middle and low at two ends in the driving process, and also pre-judges the terrain.
2. The halbach array permanent magnet-based microgravity experiment platform of claim 1, wherein a simulation layer is arranged on the upper surface of the conductor support surface.
3. The halbach array permanent magnet-based microgravity experiment platform as claimed in claim 2, wherein the simulation layer comprises crushed stone, fine sand and other simulators capable of simulating the real condition of the lunar surface.
4. The micro-gravity experiment platform based on the halbach array permanent magnet as claimed in claim 1, wherein the experiment main body is a lunar vehicle, the lunar vehicle comprises a vehicle body and a plurality of support legs, the pressure sensor is mounted on each support leg, and whether the vehicle body is in a gravity environment of one sixth of the earth gravity is detected through the pressure sensor.
5. The halbach array permanent magnet-based microgravity experiment platform as claimed in claim 1, wherein the upper surface of the conductor support surface is a circular arc surface, and curvatures of points on the circular arc surface are equal or unequal to simulate a real lunar surface shape; the lower surface of the conductor supporting surface is a plane so that the conductor supporting surface can be stably placed on the experiment table.
6. The micro-gravity experiment platform based on the halbach array permanent magnet as claimed in claim 1, wherein the servo motors are arranged on front and rear vehicle walls of the experiment main body, and the positions of the servo motors are symmetrical.
7. The micro-gravity experiment platform based on the halbach array permanent magnet as claimed in claim 1, wherein brackets are arranged on the front and rear car walls of the experiment main body so as to fix each servo motor.
8. The halbach array permanent magnet-based microgravity experiment platform as claimed in claim 1, wherein the output shaft of each servo motor is provided with a disk-type halbach array permanent magnet.
9. The micro-gravity experiment platform based on the halbach array permanent magnet as claimed in claim 1, wherein a control circuit, a feedback controller and a power supply are arranged at the upper part of the box body of the experiment main body, so as to form a suspension structure, and the suspension structure provides a suspension force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910777155.9A CN110481819B (en) | 2019-08-22 | 2019-08-22 | Micro-gravity experiment platform based on halbach array permanent magnet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910777155.9A CN110481819B (en) | 2019-08-22 | 2019-08-22 | Micro-gravity experiment platform based on halbach array permanent magnet |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110481819A CN110481819A (en) | 2019-11-22 |
| CN110481819B true CN110481819B (en) | 2020-12-29 |
Family
ID=68552736
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910777155.9A Active CN110481819B (en) | 2019-08-22 | 2019-08-22 | Micro-gravity experiment platform based on halbach array permanent magnet |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110481819B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113494527B (en) * | 2021-07-30 | 2022-06-24 | 哈尔滨工业大学 | Constant force control method based on electromagnetic auxiliary type constant force spring support |
| CN114464070B (en) * | 2022-01-21 | 2022-09-30 | 燕山大学 | Parallel posture adjustment based magnetic suspension gravity compensation experimental platform for planet vehicle |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2664993B2 (en) * | 1989-06-08 | 1997-10-22 | 宇宙開発事業団 | Microgravity environment test equipment |
| CN202807110U (en) * | 2012-08-14 | 2013-03-20 | 淮安中科科创精密机械科技有限公司 | Gas floating six-degree-of-freedom simulation satellite device of semi-active type gravity compensation structure |
| CN202795838U (en) * | 2012-09-26 | 2013-03-13 | 四川省玛卓科技有限公司 | Microgravity experimental device |
| CN103954468A (en) * | 2014-05-12 | 2014-07-30 | 北京空间机电研究所 | Landing stability testing device and method under moon-gravity-simulated environment |
| CN105599922B (en) * | 2014-11-20 | 2018-01-09 | 中国科学院沈阳自动化研究所 | A kind of 1/6g low gravitations balance erecting by overhang |
| CN104898467A (en) * | 2015-03-27 | 2015-09-09 | 西北工业大学 | Uniform electromagnetic force field generation device and method |
| CN104787363B (en) * | 2015-05-06 | 2016-08-24 | 中国科学院沈阳自动化研究所 | A kind of satellite ground microgravity dynamic load simulation mechanism |
| CN106005497B (en) * | 2016-06-13 | 2018-01-02 | 北京航空航天大学 | A kind of suspension type six degree of freedom microgravity environment simulation system |
| CN107244431B (en) * | 2017-06-07 | 2019-04-30 | 北京航空航天大学 | Space tasks ground motion reproduces across scale verification platform |
| CN107680466B (en) * | 2017-09-11 | 2019-05-31 | 西北工业大学 | The impeller system of the general payload platform of the magnet mixing suspended microgravity experiment of liquid |
| CN107933980B (en) * | 2017-11-17 | 2021-07-06 | 哈尔滨工业大学 | Active and passive combined suspension zero-gravity simulation system and simulation method |
| CN208498816U (en) * | 2018-05-11 | 2019-02-15 | 天津航天机电设备研究所 | A kind of micro- low-gravity simulation device |
-
2019
- 2019-08-22 CN CN201910777155.9A patent/CN110481819B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110481819A (en) | 2019-11-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110481819B (en) | Micro-gravity experiment platform based on halbach array permanent magnet | |
| US4908558A (en) | Spherical motion simulator | |
| Hoque et al. | Development of a three-axis active vibration isolator using zero-power control | |
| US9254759B1 (en) | Propulsion and control for a magnetically lifted vehicle | |
| US9325220B2 (en) | Propulsion and control for a magnetically lifted vehicle | |
| US4090745A (en) | Magnetic suspension with magnetic stiffness augmentation | |
| JP4892189B2 (en) | Diamagnetic levitation system | |
| CN103291832A (en) | Magnetic suspension vibration isolation platform | |
| US9975448B2 (en) | Control of translating hover engines to obtain zero drag | |
| CN114464070B (en) | Parallel posture adjustment based magnetic suspension gravity compensation experimental platform for planet vehicle | |
| US3017777A (en) | Space vehicle attitude control mechanism | |
| US2856238A (en) | Method and means for suspension of a rotatable object in space | |
| CN114812986A (en) | Vibration test system of superconducting maglev train suspension frame | |
| CN105577035B (en) | space small magnet suspension control method | |
| US3090239A (en) | Accelerometer | |
| CN1822487B (en) | Magnetic expelling type suspension device | |
| CN105545955A (en) | Magnetic bearing based on force feedback control | |
| JP4135954B2 (en) | Magnetically supported balance device for automobiles | |
| Musolino et al. | A new passive maglev system based on eddy current stabilization | |
| CN111030509B (en) | Device and method for two-dimensional plane suspension movement based on force unbalance driving | |
| Romagnoli et al. | Controlling the motional quality factor of a diamagnetically levitated graphite plate | |
| CN113997797B (en) | Permanent magnet electric suspension guiding driving integrated device | |
| Li et al. | Considering operating point variation in 3-D analytical charge model used for design of low-stiffness permanent magnet vibration isolator | |
| RU2677942C2 (en) | Method of decontamination and excitation of vibrations in modal tests and device for its implementation | |
| CN109104125A (en) | A kind of air bearing momentum sphere system of induction type driving |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |