CN110513576A - A kind of contactless vibration-isolating platform of space six degree of freedom for space flight - Google Patents
A kind of contactless vibration-isolating platform of space six degree of freedom for space flight Download PDFInfo
- Publication number
- CN110513576A CN110513576A CN201910626045.2A CN201910626045A CN110513576A CN 110513576 A CN110513576 A CN 110513576A CN 201910626045 A CN201910626045 A CN 201910626045A CN 110513576 A CN110513576 A CN 110513576A
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- permanent magnet
- vibration isolator
- coil
- electromagnetism
- pedestal
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 33
- 238000002955 isolation Methods 0.000 claims abstract description 16
- 238000006073 displacement reaction Methods 0.000 claims description 25
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 229910000737 Duralumin Inorganic materials 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 3
- 238000005259 measurement Methods 0.000 description 4
- 238000012913 prioritisation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/03—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using magnetic or electromagnetic means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention discloses a kind of contactless vibration-isolating platforms of space six degree of freedom for space flight, include pedestal, workbench and first to fourth electromagnetism vibration isolator being arranged between pedestal and workbench；The vibration isolation in the direction x and y in face can be achieved in each vibration isolator, and four vibration isolators are uniformly distributed in four side of pedestal, and platform has lower intrinsic frequency on six-freedom degree, can effectively inhibit the low frequency micro-vibration of six degree of freedom.The present invention is suitable for the vibration isolation of the equipment in fields such as space precision instrument, when platform base generates disturbance, when generating vibration on six-freedom degree, these vibrations can only be transmitted on precision load by the vibration-isolating platform, and platform stiffness by itself is extremely low, to substantially reduce the disturbance that precision load is subject to.
Description
Technical field
The present invention relates to aerospace system technical field more particularly to a kind of space six degree of freedom for space flight it is contactless every
Shake platform.
Background technique
With deep space exploration, the proposition of the space missions such as high-precision earth observation, the precision load pair carried on spacecraft
The requirement of working environment is higher and higher, and how for these precision instruments providing stable environment and being one extremely has researching value
Problem.Traditional passive vibration isolation means structure is simple, high reliablity, but is only higher than its intrinsic frequency √ 2 in driving frequency
Times when competence exertion vibration isolation act on, therefore it is extremely limited for the isolation of low-frequency vibration.Active vibration isolation means pass through feedback control
The isolation of low-frequency vibration may be implemented, but generally require to carry out real-time parameter measurement and complicated control law resolving, therefore
Structure is generally complex.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of for navigating for defect involved in background technique
It the contactless vibration-isolating platform of space six degree of freedom.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of contactless vibration-isolating platform of space six degree of freedom for space flight comprising pedestal, workbench and is arranged in pedestal
The first to fourth electromagnetism vibration isolator between workbench；
The first to fourth electromagnetism vibration isolator includes the first permanent magnet, the second permanent magnet, permanent magnet mounting rack, electromagnetic coil
With coil mounting base, wherein the permanent magnet mounting rack is in U-shape, and includes a bottom edge and two sides, and permanent magnet mounting rack
Bottom edge be fixed on the workbench in the one side of pedestal, the equal and described workbench in two sides is close to the one of pedestal
Face is vertical；First permanent magnet, the second permanent magnet are separately positioned on the both ends of permanent magnet mounting rack；The electromagnetic coil is fixed
In the coil mounting base；The coil mounting base is vertically fixed on the pedestal in the one side of workbench, so that
Electromagnetic coil is located at the first permanent magnet, among the second permanent magnet；The magnetic field center line and first that the coil generates after being powered is forever
Magnet, the magnetic field center line coincidence of the second permanent magnet and direction are identical；
Described first, the permanent magnet of the line of the permanent magnet mounting rack of third electromagnetism vibration isolator and the second, the 4th electromagnetism vibration isolator
The line of mounting rack forms the cross shape of the center coincidence of center and workbench；
Described first, the coil of the line of the coil mounting base of third electromagnetism vibration isolator and the second, the 4th electromagnetism vibration isolator is installed
The line of seat forms the cross shape of the center coincidence of center and pedestal.
As a kind of further prioritization scheme of the contactless vibration-isolating platform of space six degree of freedom for space flight of the present invention, institute
The first permanent magnet, the second permanent magnet for stating first to fourth electromagnetism vibration isolator are cylindrical, and are all made of NdFeB material system
At.
As a kind of further prioritization scheme of the contactless vibration-isolating platform of space six degree of freedom for space flight of the present invention, institute
The coil for stating first to fourth electromagnetism vibration isolator is all made of two-sided PCB printed circuit.
As a kind of further prioritization scheme of the contactless vibration-isolating platform of space six degree of freedom for space flight of the present invention, institute
State the permanent magnet mounting rack of first to fourth electromagnetism vibration isolator, coil mounting base is all made of duralumin, hard alumin ium alloy material and is made.
As a kind of further prioritization scheme of the contactless vibration-isolating platform of space six degree of freedom for space flight of the present invention, also
Comprising displacement sensor, power supply module and control module, the control module respectively with power supply module, displacement sensor and
The coil of first to fourth electromagnetism vibration isolator is connected；
The pedestal is arranged in close to the center of workbench side, for incuding pedestal and workbench in institute's displacement sensors
The distance between, and pass it to the control module；
The coil for the first to fourth electromagnetism vibration isolator of distance controlling that the control module is used to be sensed according to displacement sensor
In electric current, when the distance that displacement sensor senses be less than or equal to preset distance threshold when, control module control first to
Electric current in the coil of 4th electromagnetism vibration isolator is preset first current threshold, and first to fourth electromagnetism vibration isolator is used at this time
Vibration isolation；When the distance that displacement sensor senses is greater than preset distance threshold, control module controls first to fourth electromagnetism
Electric current in the coil of vibration isolator is preset second current threshold, and preset second current threshold is greater than preset first
Current threshold, first to fourth electromagnetism vibration isolator is for preventing workbench to be detached from pedestal at this time.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1. the electromagnetism vibration isolator being designed using PCB technology has identical equivalent stiffness in the direction x and y, therefore six is free
Degree vibration-isolating platform only needs four vibration isolators to constitute, rather than six, structure is simple.
2. vibration-isolating platform of the invention uses electromagnetism vibration isolation technique, so that not having object between precision load and satellite main body
Reason contact, therefore the zero stiffness of vibration-isolating platform may be implemented, the disturbance that the transmitting of satellite main body part comes is isolated to the maximum extent.
3. vibration-isolating platform rigidity can carry out Linear Control according to electric current, electric current output generally only has certain in actual use
One or two possible values, the control law without carrying out real-time feedback control or complexity resolve, high reliablity.
4. since the range measurement between platform is not used in feedback control, the required precision of sensor is substantially reduced, can be significant
Save the cost.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram that the coil mounting base of pedestal and first to fourth electromagnetism vibration isolator matches in the present invention；
Fig. 3 is the structural representation that the permanent magnet mounting rack of workbench and first to fourth electromagnetism vibration isolator matches in the present invention
Figure；
Fig. 4 is the structural schematic diagram of electromagnetism vibration isolator in the present invention.
In figure, 1- electromagnetism vibration isolator, 2- pedestal, 3- workbench, 4- displacement sensor, 5- electromagnetic coil.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
The present invention can be embodied in many different forms, and should not be assumed that be limited to the embodiments described herein.On the contrary, providing
These embodiments are thoroughly and complete to make the disclosure, and will give full expression to the scope of the present invention to those skilled in the art.
In the accompanying drawings, for the sake of clarity it is exaggerated component.
As shown in Figure 1, including base the invention discloses a kind of contactless vibration-isolating platform of space six degree of freedom for space flight
Seat, workbench and first to fourth electromagnetism vibration isolator being arranged between pedestal and workbench；
The first to fourth electromagnetism vibration isolator includes the first permanent magnet, the second permanent magnet, permanent magnet mounting rack, electromagnetic coil
With coil mounting base, wherein the permanent magnet mounting rack is in U-shape, and includes a bottom edge and two sides, and permanent magnet mounting rack
Bottom edge be fixed on the workbench in the one side of pedestal, the equal and described workbench in two sides is close to the one of pedestal
Face is vertical；First permanent magnet, the second permanent magnet are separately positioned on the both ends of permanent magnet mounting rack；The electromagnetic coil is fixed
In the coil mounting base；The coil mounting base is vertically fixed on the pedestal in the one side of workbench, so that
Electromagnetic coil is located at the first permanent magnet, among the second permanent magnet；The magnetic field center line and first that the coil generates after being powered is forever
Magnet, the magnetic field center line coincidence of the second permanent magnet and direction are identical；
As shown in figure 3, line and the second, the 4th electromagnetism vibration isolation of the permanent magnet mounting rack of described first, third electromagnetism vibration isolator
The line of the permanent magnet mounting rack of device forms the cross shape of the center coincidence of center and workbench；
As shown in Fig. 2, the line and the second, the 4th electromagnetism vibration isolator of the coil mounting base of described first, third electromagnetism vibration isolator
The line of coil mounting base form the cross shape that the center of center and pedestal is overlapped.
As shown in figure 4, the first permanent magnet of the first to fourth electromagnetism vibration isolator, the second permanent magnet are cylindrical,
And it is all made of NdFeB material and is made；The coil of first to fourth electromagnetism vibration isolator is all made of two-sided PCB printed circuit；First to
The permanent magnet mounting rack of 4th electromagnetism vibration isolator, coil mounting base are all made of duralumin, hard alumin ium alloy material and are made.Coil plate is passed through electric current
Afterwards, coil and permanent magnet generate the effect that power can be generated when relative motion in the direction x and y, and equivalent stiffness is in certain movement
Nearly constant in range, the size of equivalent stiffness is directly proportional to size of current, in a certain range, also with coil width at just
Than.
Every one side of first to fourth electromagnetism vibration isolator coil has the square coil of a long 44mm, and coil width is
5mm.The internal diameter 6mm of first, second permanent magnet of first to fourth electromagnetism vibration isolator, outer diameter 30mm, thickness 20mm, first,
Spacing 30mm between two permanent magnets, and the pole N of first to fourth electromagnetism vibration isolator is directed on the outside of vibration-isolating platform, the pole S refers both to
On the inside of to vibration-isolating platform.
The present invention can also further include displacement sensor, power supply module and control module, the control module difference
It is connected with the coil of power supply module, displacement sensor and first to fourth electromagnetism vibration isolator；
The pedestal is arranged in close to the center of workbench side, for incuding pedestal and workbench in institute's displacement sensors
The distance between, and pass it to the control module；
The coil for the first to fourth electromagnetism vibration isolator of distance controlling that the control module is used to be sensed according to displacement sensor
In electric current, when the distance that displacement sensor senses be less than or equal to preset distance threshold when, control module control first to
Electric current in the coil of 4th electromagnetism vibration isolator is preset first current threshold, and first to fourth electromagnetism vibration isolator is used at this time
Vibration isolation；When the distance that displacement sensor senses is greater than preset distance threshold, control module controls first to fourth electromagnetism
Electric current in the coil of vibration isolator is preset second current threshold, and preset second current threshold is greater than preset first
Current threshold, first to fourth electromagnetism vibration isolator is for preventing workbench to be detached from pedestal at this time.
The measurement data of displacement sensor is not used in real-time feedback control, and only detects whether relative displacement reaches default
Distance threshold, before measurement data reaches preset distance threshold, electromagnetism vibration isolator electric current it is constant for it is preset first electricity
Threshold value is flowed, electromagnetism vibration-isolating platform overall stiffness is smaller, to realize six degree-of-freedom low-frequency vibration isolation.
Electromagnetism vibration isolator rigidity k is related with input current I and relative displacement x, i.e. k=k (I, x) passes through ginseng appropriate
Number design, in a certain range rigidity can approximation be considered as, at this time k=k unrelated with displacement x0I, wherein k0The coefficient than for, therefore
Its rigidity can be minimum to can reach zero stiffness by current control in predetermined stroke；When electric current is constant, the power output of electromagnetism vibration isolator
F is almost the same with Hookean spring, meets F=- kx, and wherein x is the opposite position of electromagnetism vibration isolator middle line circle center and permanent magnet center
It moves.
Spacecraft segmentation load blocks and satellite main body module, load blocks are fixed on the work of vibration-isolating platform by the present invention
Platform there's almost no disturbing source on workbench；Satellite main body module is fixed on vibration-isolating platform pedestal, satellite main body part
Include almost all of disturbing source, such as propeller, solar sail, momenttum wheel etc..
Four based on the electromagnetism vibration isolator of Lorentz force principle by two pieces of opposite cylindrical permanent magnets and therebetween
Square electromagnetic coil composition.The vibration isolator possesses passively equilbrium position, when being in the equilbrium position, permanent magnet center and line
Circle center is overlapped, and magnetic field force that hot-wire coil relative edge is subject at this time etc. is big reversed, and the resultant force that entire coil is subject to is zero；When every
Device shake when a direction deviates the equilbrium position, the power that hot-wire coil relative edge is subject in magnetic field is just no longer consistent,
Its difference is the power output of vibration isolator.The vibration isolator direction x and y rigidity having the same in coil plane, can be in two phases
Mutually vibration isolation is carried out on vertical direction.
The relative displacement of workbench and pedestal is measured by displacement sensor, workbench is relative to platform base
There are three translational degree of freedom x, y, z and three rotational freedoms for seatθ x 、θ y 、θ z , each vibration isolator can be achieved face in the direction x and y
Vibration isolation, four vibration isolators are uniformly distributed in four side of pedestal, and platform has lower intrinsic frequency on six-freedom degree, can be with
Effectively inhibit the low frequency micro-vibration of six degree of freedom.The present invention is suitable for the vibration isolation of the equipment in fields such as space precision instrument,
When platform base generates disturbance, when generating vibration on six-freedom degree, these vibrations can only be transmitted by the vibration-isolating platform
Onto precision load, and platform stiffness by itself is extremely low, to substantially reduce the disturbance that precision load is subject to.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (5)
1. a kind of contactless vibration-isolating platform of space six degree of freedom for space flight, which is characterized in that comprising pedestal, workbench,
And first to fourth electromagnetism vibration isolator between pedestal and workbench is set；
The first to fourth electromagnetism vibration isolator includes the first permanent magnet, the second permanent magnet, permanent magnet mounting rack, electromagnetic coil
With coil mounting base, wherein the permanent magnet mounting rack is in U-shape, and includes a bottom edge and two sides, and permanent magnet mounting rack
Bottom edge be fixed on the workbench in the one side of pedestal, the equal and described workbench in two sides is close to the one of pedestal
Face is vertical；First permanent magnet, the second permanent magnet are separately positioned on the both ends of permanent magnet mounting rack；The electromagnetic coil is fixed
In the coil mounting base；The coil mounting base is vertically fixed on the pedestal in the one side of workbench, so that
Electromagnetic coil is located at the first permanent magnet, among the second permanent magnet；The magnetic field center line and first that the coil generates after being powered is forever
Magnet, the magnetic field center line coincidence of the second permanent magnet and direction are identical；
Described first, the permanent magnet of the line of the permanent magnet mounting rack of third electromagnetism vibration isolator and the second, the 4th electromagnetism vibration isolator
The line of mounting rack forms the cross shape of the center coincidence of center and workbench；
Described first, the coil of the line of the coil mounting base of third electromagnetism vibration isolator and the second, the 4th electromagnetism vibration isolator is installed
The line of seat forms the cross shape of the center coincidence of center and pedestal.
2. the space six degree of freedom contactless vibration-isolating platform according to claim 1 for space flight, which is characterized in that described
The first permanent magnet, the second permanent magnet of first to fourth electromagnetism vibration isolator are cylindrical, and are all made of NdFeB material and are made.
3. the space six degree of freedom contactless vibration-isolating platform according to claim 1 for space flight, which is characterized in that described
The coil of first to fourth electromagnetism vibration isolator is all made of two-sided PCB printed circuit.
4. the space six degree of freedom contactless vibration-isolating platform according to claim 1 for space flight, which is characterized in that described
The permanent magnet mounting rack of first to fourth electromagnetism vibration isolator, coil mounting base are all made of duralumin, hard alumin ium alloy material and are made.
5. the space six degree of freedom contactless vibration-isolating platform according to claim 1 for space flight, which is characterized in that also wrap
Containing displacement sensor, power supply module and control module, the control module respectively with power supply module, displacement sensor, Yi Ji
The coil of one to the 4th electromagnetism vibration isolator is connected；
The pedestal is arranged in close to the center of workbench side, for incuding pedestal and workbench in institute's displacement sensors
The distance between, and pass it to the control module；
The coil for the first to fourth electromagnetism vibration isolator of distance controlling that the control module is used to be sensed according to displacement sensor
In electric current, when the distance that displacement sensor senses be less than or equal to preset distance threshold when, control module control first to
Electric current in the coil of 4th electromagnetism vibration isolator is preset first current threshold, and first to fourth electromagnetism vibration isolator is used at this time
Vibration isolation；When the distance that displacement sensor senses is greater than preset distance threshold, control module controls first to fourth electromagnetism
Electric current in the coil of vibration isolator is preset second current threshold, and preset second current threshold is greater than preset first
Current threshold, first to fourth electromagnetism vibration isolator is for preventing workbench to be detached from pedestal at this time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910626045.2A CN110513576B (en) | 2019-07-11 | 2019-07-11 | Space six-degree-of-freedom non-contact vibration isolation platform for spaceflight |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910626045.2A CN110513576B (en) | 2019-07-11 | 2019-07-11 | Space six-degree-of-freedom non-contact vibration isolation platform for spaceflight |
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| Publication Number | Publication Date |
|---|---|
| CN110513576A true CN110513576A (en) | 2019-11-29 |
| CN110513576B CN110513576B (en) | 2021-02-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910626045.2A Active CN110513576B (en) | 2019-07-11 | 2019-07-11 | Space six-degree-of-freedom non-contact vibration isolation platform for spaceflight |
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| CN110939683A (en) * | 2019-12-05 | 2020-03-31 | 哈尔滨工业大学 | Large-load low-power-consumption magnetic suspension vibration isolation platform |
| CN111853481A (en) * | 2020-08-14 | 2020-10-30 | 西安应用光学研究所 | Multi-degree-of-freedom flexible supporting structure and photoelectric stabilized sighting turret universal frame |
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| CN111853481B (en) * | 2020-08-14 | 2022-04-05 | 西安应用光学研究所 | Multi-degree-of-freedom flexible supporting structure and photoelectric stabilized sighting turret universal frame |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110513576B (en) | 2021-02-19 |
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