CN110641739A - Multi-dimensional rotating shaft connecting device - Google Patents
Multi-dimensional rotating shaft connecting device Download PDFInfo
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- CN110641739A CN110641739A CN201911091167.2A CN201911091167A CN110641739A CN 110641739 A CN110641739 A CN 110641739A CN 201911091167 A CN201911091167 A CN 201911091167A CN 110641739 A CN110641739 A CN 110641739A
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- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 230000005540 biological transmission Effects 0.000 claims abstract description 34
- 238000005096 rolling process Methods 0.000 claims abstract description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005358 geomagnetic field Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000005486 microgravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 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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- 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
- B64G1/244—Spacecraft control systems
- B64G1/245—Attitude control algorithms for spacecraft attitude control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Gear Transmission (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a multi-dimensional rotating shaft connecting device, which aims to solve the problem of three-axis entity crossing existing in an attitude control mechanism of a low-altitude low-speed aircraft and belongs to the field of attitude control of the low-altitude low-speed aircraft, and the multi-dimensional rotating shaft connecting device comprises: a support (1); a first connecting mechanism (2) mounted on the bracket for connecting the two yaw axes; a second connecting mechanism (3) which is arranged on the bracket and is used for connecting the two rolling shafts; a third connecting mechanism (4) which is arranged on the bracket and is used for connecting the two pitching shafts; the connecting mechanism includes: the device comprises two transmission shafts which are positioned between two connected shafts, are parallel to the extension line of a connected shaft and are arranged at positions after the axis of the connected shaft is symmetrically deviated, and a momentum transfer mechanism which is arranged between the transmission shafts and the connected shaft and is used for transferring angular momentum.
Description
Technical Field
The invention relates to the field of attitude control of low-altitude and low-speed aircrafts, in particular to a multi-dimensional rotating shaft connecting device.
Background
Attitude control is an important part of aircraft control systems. The aircraft comprises space artificial machines such as airplanes, missiles, satellites, airships and the like. Common attitude control methods include aerodynamic control, thrust vector control, jet reaction control, flywheel control, magnetic torquer control, metamorphic center control. The principle and the application range are respectively as follows: 1. aerodynamic control: aerodynamic forces are decomposed into lift, lateral and drag forces, and aerodynamic moments can be decomposed into roll, yaw and pitch moments that affect the attitude of the aircraft. The method is suitable for the atmosphere at the bottom layer, and the attitude control cannot be realized under the condition of low speed and low dynamic pressure. Generally applied to airplanes and missiles; 2. thrust vector control: the flight of the aircraft is controlled by changing the engine airflow direction. The method is mainly applied to fighters and missiles; 3. controlling the jet reaction: the aircraft body is sprayed out by a jet engine by utilizing an air source carried by the aircraft body, and a reaction force and a reaction moment are generated, so that the attitude of the aircraft is controlled. The aircraft is suitable for the aircraft under the conditions of low speed, high altitude and low dynamic pressure. The method is mainly applied to space aircrafts such as satellites, space shuttles and the like; 4. flywheel control: flywheels are wheels with a large inertia, which when accelerated or decelerated during their rotational movement, generate a counteracting control moment. The flywheel can rotate in the positive and negative directions, and when the rotating speed is an inertia wheel near zero, a reaction wheel is also called as a zero-momentum wheel. The momentum wheel can not only generate control torque, but also the angular momentum can keep the rotating shaft stable in the inertia space. Is a mature control technology applied to satellites; 5. controlling a magnetic torquer: the method is mainly applied to satellite attitude control. The magnetic torquer is a coil, generates magnetic dipole moment when electrified, and generates moment under the action of the magnetic torquer and the geomagnetic field; 6. and (3) variable centroid control: the variable mass center control is controlled by the distribution of variable mass and the mass distance.
Flywheel control is also known as momentum wheel control. The existing flywheel control is mainly applied to space vehicles such as satellites, and only the geometric relation of a centroid is needed to be concerned, but the geometric relation of a center is not needed to be concerned, because the space vehicles are in a microgravity environment. Therefore, the existing flywheel type attitude control mainly realizes three-axis angular momentum control by independently installing three flywheels in three-axis directions. The single flywheel mounting mode has no problem of intersection of the rotating shaft entity in the center.
However, for a low-altitude and low-speed aircraft, the geometric relationship between the center of mass and the center of gravity is also very important for controlling the attitude of the aircraft, and the center of gravity and the center of mass need to be designed to be coincident with the geometric center of the aircraft so as to realize the attitude control of the aircraft. The three-axis symmetrical momentum wheel control is needed, specifically, two momentum wheels need to be arranged on the yaw axis, the rolling axis and the pitch axis, each axis passes through the centroid, and the two momentum wheels on each axis are symmetrical to the centroid, but the yaw axis, the rolling axis and the pitch axis intersect at the centroid, that is, the problem of three-axis entity intersection exists, which affects the integrated design of the three-axis flywheel.
The three axes referred to in this application refer to the yaw axis, roll axis and pitch axis.
Disclosure of Invention
The invention aims to provide a multi-dimensional rotating shaft connecting device to solve the problems of three-axis symmetrical momentum wheel control.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a multidimension degree pivot connecting device, is applied to the attitude control mechanism of low-altitude low-speed aircraft, and it includes:
a support;
the first connecting mechanism is arranged on the bracket and used for connecting the two yaw shafts;
the second connecting mechanism is arranged on the bracket and is used for connecting the two rolling shafts;
the third connecting mechanism is arranged on the bracket and is used for connecting the two pitching shafts;
the connecting mechanism includes: the device comprises two transmission shafts which are positioned between two connected shafts, are parallel to the extension line of a connected shaft and are arranged at positions after the axis of the connected shaft is symmetrically deviated, and a momentum transfer mechanism which is arranged between the transmission shafts and the connected shaft and is used for transferring angular momentum.
Preferably, the momentum transfer mechanism is a gear set.
Preferably, the gear set comprises two transmission gears and a bearing gear, the two transmission gears are arranged on the two transmission shafts, the bearing gear is used for connecting a connected shaft, and the bearing gear is respectively meshed with the two transmission gears.
Preferably, the support is a shell with a regular hexahedral structure, the bearing gear is located at the center of the end of the shell, and a transmission external interface is arranged at the center of the end of the shell.
Compared with the prior art, the invention has at least the following beneficial effects:
the invention effectively solves the problem of three-axis entity crossing in the control of the three-axis symmetrical momentum wheel by symmetrically offsetting the original central transmission shaft and introducing the momentum transfer mechanism, realizes the interference-free rotary connection of three axes passing through the center of mass, does not change the symmetrical characteristic of the center of mass, and can realize the three-axis integrated momentum control.
Drawings
FIG. 1 is a schematic diagram of an exemplary embodiment of a multi-dimensional rotating shaft coupling;
FIG. 2 is a schematic view of the first, second or third connection mechanism;
FIGS. 3-5 are schematic projection views of a multi-dimensional rotating shaft coupling device in a three-axis coordinate plane;
reference numerals: 1. a support; 2. a first connecting mechanism; 3. a second connecting mechanism; 4. a third connecting mechanism; 5. a transmission external interface; 6. a connected shaft; 7. a momentum transfer mechanism; 71. a transmission gear; 72. a bearing gear; 8. a drive shaft; 9. the axis of the connected shaft (the extension line of the connected shaft).
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The invention aims to solve the problem of three-axis entity intersection in an attitude control mechanism of a low-altitude low-speed aircraft, and provides a multi-dimensional rotating shaft connecting device.
Referring to fig. 1, the multi-dimensional rotating shaft connecting device includes: a bracket 1; a first connecting mechanism 2 mounted on the support 1 and used for connecting two yaw axes; a second connecting mechanism 3 mounted on the bracket 1 and used for connecting the two rolling shafts; and a third connecting mechanism 4 which is arranged on the bracket 1 and is used for connecting two pitching shafts.
The first, second and third connecting mechanisms 2, 3 and 4 are identical in construction. The construction of the connection mechanism is shown in fig. 2.
As shown in fig. 2, the connection mechanism includes: two transmission shafts 8 which are disposed between the two connected shafts 6, are parallel to the extension line of the connected shafts 6, and are disposed at positions where the axes of the connected shafts 6 are symmetrically offset, and a momentum transfer mechanism 7 which is disposed between the transmission shafts 8 and the connected shafts 6 and transfers angular momentum. In this embodiment, the momentum transfer mechanism 7 specifically adopts a gear set, the gear set specifically includes two transmission gears 71 and one bearing gear 72, the two transmission gears 71 are installed on the two transmission shafts 8, the bearing gear 72 is used for connecting the connected shaft 6, and the bearing gear 72 is respectively meshed with the two transmission gears 71.
In application, the two connected shafts 6 are each fitted with a momentum wheel in fig. 2. When the connected shaft 6 at the left end rotates in fig. 2, the driven gear 72 at the left end is driven to rotate, the two transmission gears 71 at the left end transmit the angular momentum of the driven gear 72 to the two transmission shafts 8, and then sequentially transmit the angular momentum to the driven gear 72 at the right end through the transmission shafts 8 and the two transmission gears 71 at the right end, and finally transmit the angular momentum to the connected shaft 6 at the right end, so that the angular momentum is transmitted between the two connected shafts 6, and the momentum wheels on the two connected shafts 6 synchronously rotate.
The connecting mechanism avoids the transmission shaft 8 from passing through a geometric center through the two symmetrically offset transmission shafts 8 and the momentum transfer mechanism 7, and the symmetrical characteristic of the center of gravity is not changed.
Fig. 3-5 show projections of a multi-dimensional rotating shaft connection onto a three-axis coordinate plane, respectively.
With reference to fig. 1-5, it can be seen that all the transmission shafts 8 are spatially staggered and do not interfere with each other, and the axes of all the connected shafts 6 pass through the center of mass of the bracket 1. The multi-dimensional rotating shaft connecting device realizes the interference-free rotating connection of three shafts passing through the center of mass, does not change the symmetrical characteristic of the center of mass, and can realize three-shaft integrated momentum control.
Referring again to fig. 1, the bracket 1 in this embodiment is specifically a housing having a regular hexahedral structure. In fig. 1, only three ends of the housing are shown in order to show the internal structure. The shell of the regular hexahedron structure is used as the support 1, so that the first connecting mechanism 2, the second connecting mechanism 3 and the third connecting mechanism 4 are hidden in the shell, the first connecting mechanism 2, the second connecting mechanism 3 and the third connecting mechanism 4 are installed conveniently, and the center of mass of the shell is aligned with the center of mass of the aircraft conveniently during installation due to the center of mass rule of the regular hexahedron structure.
The bearing gear 72 is located at the center of the end of the shell, the center of the end of the shell is provided with a transmission external interface 5, and the connected shaft 6 and the corresponding bearing gear 72 can be conveniently connected through the external transmission interface 5.
The present invention has been described in detail with reference to the specific embodiments, and the detailed description is only for the purpose of helping those skilled in the art understand the present invention, and is not to be construed as limiting the scope of the present invention. Various modifications, equivalent changes, etc. made by those skilled in the art under the spirit of the present invention shall be included in the protection scope of the present invention.
Claims (4)
1. The utility model provides a multidimension degree pivot connecting device, is applied to the attitude control mechanism of low-altitude low-speed aircraft, its characterized in that includes:
a support (1);
a first connecting mechanism (2) which is arranged on the bracket (1) and is used for connecting two yaw axes;
a second connecting mechanism (3) which is arranged on the bracket (1) and is used for connecting the two rolling shafts;
a third connecting mechanism (4) which is arranged on the bracket (1) and is used for connecting the two pitching shafts;
the connecting mechanism includes: two transmission shafts (8) which are disposed between the two shafts to be connected, are parallel to the extension line of the shaft (6) to be connected, and are disposed at positions offset symmetrically with respect to the axis (9) of the shaft (6) to be connected, and a momentum transfer mechanism (7) which is disposed between the transmission shafts (8) and the shaft (6) to be connected and transfers angular momentum.
2. The multi-dimensional rotating shaft connecting device according to claim 1, wherein the momentum transfer mechanism (7) is a gear set.
3. The multidimensional rotation shaft connecting device according to claim 2, wherein the gear set comprises two transmission gears (71) and one bearing gear (72), the two transmission gears (71) are mounted on the two transmission shafts (8), the bearing gear (72) is used for connecting a connected shaft (6), and the bearing gear (72) is respectively meshed with the two transmission gears (71).
4. The multidimensional rotation shaft connecting device according to claim 3, wherein the bracket (1) is a housing of a regular hexahedral structure, and the bearing gear (72) is located at the center of the end of the housing, and a transmission external interface (5) is arranged at the center of the end of the housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911091167.2A CN110641739B (en) | 2019-11-09 | 2019-11-09 | Multi-dimensional rotating shaft connecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911091167.2A CN110641739B (en) | 2019-11-09 | 2019-11-09 | Multi-dimensional rotating shaft connecting device |
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| Publication Number | Publication Date |
|---|---|
| CN110641739A true CN110641739A (en) | 2020-01-03 |
| CN110641739B CN110641739B (en) | 2024-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911091167.2A Active CN110641739B (en) | 2019-11-09 | 2019-11-09 | Multi-dimensional rotating shaft connecting device |
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Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3813067A (en) * | 1972-06-29 | 1974-05-28 | Trw Inc | Attitude stabilization system |
| GB1549544A (en) * | 1976-09-17 | 1979-08-08 | Matra | Attitude control systems for space vehicles |
| CN1174982A (en) * | 1996-01-12 | 1998-03-04 | 环球星有限合伙人公司 | Dynamic bais for controlling mavar orbital deviation |
| US6340137B1 (en) * | 1998-08-26 | 2002-01-22 | Honeywell International Inc. | Moment control unit for spacecraft attitude control |
| US20090183951A1 (en) * | 2008-01-22 | 2009-07-23 | Harvey Emanuel Fiala | Intertial propulsion device |
| KR20140014634A (en) * | 2012-07-25 | 2014-02-06 | 한국항공우주연구원 | Three dimensional rigid ball actuation system for spacecraft attitude control |
| US20150108280A1 (en) * | 2013-10-18 | 2015-04-23 | Harold James Willard, JR. | Mechanism for stabilizing and creating a variable gravitational field in a toroidal space station |
| CN105775169A (en) * | 2016-03-21 | 2016-07-20 | 中国空间技术研究院 | Magnetization suspension induction drive type counteractive momentum ball |
| CN109969431A (en) * | 2019-02-28 | 2019-07-05 | 北京空间飞行器总体设计部 | A kind of integrated bracket of embedded device layout installation |
| CN210761372U (en) * | 2019-11-09 | 2020-06-16 | 深圳市临近空间科技开发有限公司 | Multi-dimensional rotating shaft connecting device |
-
2019
- 2019-11-09 CN CN201911091167.2A patent/CN110641739B/en active Active
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| GB1408504A (en) * | 1972-06-29 | 1975-10-01 | Trw Inc | Attitude stabilization system |
| GB1549544A (en) * | 1976-09-17 | 1979-08-08 | Matra | Attitude control systems for space vehicles |
| CN1174982A (en) * | 1996-01-12 | 1998-03-04 | 环球星有限合伙人公司 | Dynamic bais for controlling mavar orbital deviation |
| US6340137B1 (en) * | 1998-08-26 | 2002-01-22 | Honeywell International Inc. | Moment control unit for spacecraft attitude control |
| US20090183951A1 (en) * | 2008-01-22 | 2009-07-23 | Harvey Emanuel Fiala | Intertial propulsion device |
| KR20140014634A (en) * | 2012-07-25 | 2014-02-06 | 한국항공우주연구원 | Three dimensional rigid ball actuation system for spacecraft attitude control |
| US20150166200A1 (en) * | 2012-07-25 | 2015-06-18 | Korea Aerospace Research Institute | Three-dimensional rigid ball driving system |
| US20150108280A1 (en) * | 2013-10-18 | 2015-04-23 | Harold James Willard, JR. | Mechanism for stabilizing and creating a variable gravitational field in a toroidal space station |
| CN105775169A (en) * | 2016-03-21 | 2016-07-20 | 中国空间技术研究院 | Magnetization suspension induction drive type counteractive momentum ball |
| CN109969431A (en) * | 2019-02-28 | 2019-07-05 | 北京空间飞行器总体设计部 | A kind of integrated bracket of embedded device layout installation |
| CN210761372U (en) * | 2019-11-09 | 2020-06-16 | 深圳市临近空间科技开发有限公司 | Multi-dimensional rotating shaft connecting device |
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