CN111795279A - Variable speed control moment gyro group (VSCMGs) device with pentagonal pyramid structure - Google Patents

Variable speed control moment gyro group (VSCMGs) device with pentagonal pyramid structure Download PDF

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Publication number
CN111795279A
CN111795279A CN202010704733.9A CN202010704733A CN111795279A CN 111795279 A CN111795279 A CN 111795279A CN 202010704733 A CN202010704733 A CN 202010704733A CN 111795279 A CN111795279 A CN 111795279A
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China
Prior art keywords
frame
pentagonal
fixedly connected
speed control
control moment
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Withdrawn
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CN202010704733.9A
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Chinese (zh)
Inventor
管荣强
吴悦
邵芳
于静
李明月
罗红宇
刘子超
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Jilin Teachers Institute of Engineering and Technology
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Jilin Teachers Institute of Engineering and Technology
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Priority to CN202010704733.9A priority Critical patent/CN111795279A/en
Publication of CN111795279A publication Critical patent/CN111795279A/en
Withdrawn legal-status Critical Current

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    • 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
    • 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
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • 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
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/22—Undercarriages with or without wheels with approximately constant height, e.g. with constant length of column or of legs
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D17/00—Control of torque; Control of mechanical power
    • G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

The invention provides a variable speed control moment gyro group (VSCMGs) device with a pentagonal pyramid structure, which belongs to the technical field of aerospace and is characterized by comprising the following components: the pentagonal protective shell mechanism comprises five identical variable-speed control moment gyro devices; pentagonal protective housing mechanism includes: the device comprises a base, a bearing shell and a top cover; the variable speed control moment gyro device includes: the gyroscope frame system, the frame supporting and driving system and the pentagonal fixing part are arranged on the gyroscope frame system; the gyroscope frame system is fixedly connected with the external support seat system, the frame support and drive system is fixedly connected with a base in the pentagonal protective shell mechanism, and the pentagonal fixing part is fixedly connected with the frame support and drive system; the rotating shaft of the gyro frame and the horizontal plane form 63.49 degrees, and the device can be used for carrying out input simulation verification on the dynamic equation of the gyro group in the pentagonal pyramid configuration after modeling and carrying out attitude control experiments.

Description

Variable speed control moment gyro group (VSCMGs) device with pentagonal pyramid structure
Technical Field
The invention relates to the technical field of aerospace and aviation, and particularly provides a variable speed control moment gyro group (VSCMGs) device in a pentagonal pyramid structure.
Background
The Control Moment Gyro (CMG) can generate a large Control Moment, can realize high-precision attitude Control, does not consume non-renewable working media, and is an ideal spacecraft attitude Control actuating mechanism. The single-frame control moment gyroscope (SGCMG) is the best choice for the attitude control actuating mechanism of the sensitive small spacecraft due to the fact that the SGCMG only generates control moment with one degree of freedom, and is simple in structure, large in output moment and good in dynamic response. In the traditional research, a frame shaft of the SGCMG is fixedly connected to a star body, and the change of the angular momentum direction of a rotor only depends on the rotation of the frame around the frame shaft, so that the aim of torque output is fulfilled. And a single control moment gyroscope only has moment output capacity of one degree of freedom, and an angular momentum track is only a circle on a plane, so that at least more than three control moment gyroscopes are needed for three-axis stable control of the attitude of the spacecraft. A gyro group system formed by a plurality of gyros is installed through frame shafts in different directions, so that different frame angle combinations can have different angular momentum outputs in space. Meanwhile, the main defect of the SGCMGs in the application is that the problem of singularity exists, when the torque output directions of all the SGCMGs are coplanar or collinear, the SGCMGs cannot output the control torque on the plane or the direction of the normal line of the straight line, and the SGCMGs are in a singularity state at the moment; therefore, the main basic problem of the design of the single-frame moment gyro group is to solve the singular problem of the control moment gyro group.
Some control laws can avoid singularity to a certain extent, such as singular robust manipulation laws, pseudo-inverse manipulation laws and the like, but the manipulation laws have low capability of avoiding singularity or can generate moment errors; therefore, under the condition of unchanging configuration and not adding extra hardware, only the flywheel speed regulation freedom degree is increased, and the SGCMG becomes a Variable Speed Controlled Moment Gyro (VSCMG). Compared with the SGCMG, the VSCMG with the flywheel speed change freedom degree increased has richer zero motion, can effectively avoid singularity under the condition of meeting the torque requirement of the attitude control task, and arouses the attention of more and more scholars.
SGCMG group configurations can be divided into two broad categories according to installation form: paired mounting and non-paired symmetrical mounting. Paired mounting means that two SGCMGs are mounted on the same axis, so that the mounting can reduce the complexity of the singular plane. The representative configuration includes a double parallel configuration and a triple parallel configuration. The non-pairwise symmetrical installation means that only one SGCMG is installed on each shaft, the frame shafts are symmetrically distributed in space, and due to the characteristic of symmetrical distribution, each SGCMG is located at the same position in the system and has the same function, so that the highest failure efficiency is achieved, and the representative configuration is pyramid configuration, pentagonal pyramid configuration and the like. Compared with single-frame moment gyro groups (SGCMGs), the research on the configurations and the singular surfaces of the variable-speed control moment gyro groups (VSCMGs) is the research result of the single-frame moment gyro groups, so that the device also adopts the conventional pentagonal pyramid configuration as a design scheme.
Disclosure of Invention
The invention provides a variable speed control moment gyro group (VSCMGs) device with a pentagonal pyramid structure, angular momentum with different sizes is generated by controlling a flywheel to rotate at different rotating speeds, and then the output moment of the gyro group is measured under the condition that an inner frame in the variable speed control moment gyro device rotates to generate precession moment.
Variable-speed control moment gyro group (VSCMGs) device in a pentagonal pyramid configuration, comprising: the pentagonal protective shell mechanism comprises five identical variable-speed control moment gyro devices; pentagonal protective housing mechanism includes: the device comprises a base, a bearing shell and a top cover; the variable speed control moment gyro device includes: top frame system, frame support and actuating system, pentagon fixed part.
Further, the top frame system is fixedly connected with the external supporting seat system; the frame supporting and driving system is fixedly connected with a base in the pentagonal protective shell mechanism; the pentagonal fixing part is fixedly connected with the frame support and driving system.
Further, the gyro frame system includes: the device comprises a flywheel motor, a motor fixing frame, a side plate A, a side plate B and a top frame; the frame support and drive system comprises: trapezoidal base, sensor fixed curb plate, frame driving motor fixed curb plate, hall angle sensor, axle sleeve, frame driving motor.
Furthermore, the geometrical shapes of a bottom plane and an open end plane of a base in the pentagonal protective shell mechanism are regular pentagons, five radial reinforcing ribs pointing to all vertexes of the pentagon from the central point of the regular pentagon are arranged on the bottom plane, an M3 coarse tooth threaded hole is formed in each reinforcing rib, and a countersunk hole for fixing a screw is formed in each vertex angle of the pentagon of the open end; the bearing shell is a regular pentagon stretching body, and M3 coarse tooth threaded holes for fixing screws are formed in the positions of all vertex angles of the regular pentagon; the geometric shape of the opening end of the top cover is the same as that of the opening end of the base, countersunk holes for fixing screws are arranged at vertex angles, the depth of the top cover is the same as that of the base, and the basic characteristics are consistent with those of the base; the open ends of the base, the bearing shell and the top cover are provided with stepped positioning grooves, and the base, the bearing shell and the top cover correspond to each other inside and outside during installation and are tightly connected after being fixed by screws.
Further, the flywheel motor in the gyroscope inner frame system is a customized motor, wherein the flywheel is a motor rotor, and the mass of 50g can generate larger angular momentum when the flywheel rotates at high speed; the motor fixing frame is axisymmetrical about a central shaft, and a countersunk hole for fixing the flywheel motor is formed in the central circle; the motor fixing frame is provided with a rectangular positioning groove and countersunk holes for mounting the side plate A and the side plate B; one side of the side plate A is provided with a round-corner rectangular groove, and the other side of the side plate A is provided with a rectangular open groove which forms an L-shaped channel with the round-corner rectangular groove for equipment wiring, so that wiring flying is avoided and the appearance is kept simple; the side plate A is provided with a counter bore and a lightening hole for mounting the following parts, and the upper end and the lower end of the side plate A are provided with M3 threaded holes for fixing a frame; the side plate B is symmetrical about a central shaft, the upper end and the lower end of the side plate B are provided with positioning lugs and M3 threaded holes for fixing, the diameter of a central through hole is 3mm and is the same as that of the rotor shaft of the Hall angle sensor, and the side wall of the through hole is provided with an M3 threaded hole for mounting a set screw; the top frame has substantially the same geometry as the motor mounting frame except that the top frame has rectangular locating slots at both left and right ends and the diameter of the center circle is determined in consideration of the center of gravity of the gyro frame system.
Furthermore, the threaded hole of the flywheel motor base is matched with the central circular countersunk hole of the motor fixing frame and then fixedly connected with the motor fixing frame through a screw; one end of the side plate A without the positioning lug is fixedly connected with the motor fixing frame through a screw, any one end of the side plate B at the upper end and the lower end can be connected with the click fixing frame, and the side plate A is matched with the rectangular positioning groove through the positioning lug and then is fixedly connected through the screw; the positioning grooves on the left side and the right side of the top frame are matched with the positioning lugs of the side plate A and the side plate B and then are fixedly connected through screws; the rigidity of the frame can be effectively enhanced through the positioning design, and the vibration influence generated when the flywheel rotates is reduced.
Furthermore, the trapezoidal base is composed of two sections of waists with different lengths and one section of upper bottom as the name implies, and the opening of the lower bottom is not connected; the long waist and the short waist of the trapezoidal base are perpendicular, the short waist and the upper bottom form a 63.49 degree angle, through holes for fixing are formed in the long waist and the short waist, and a platform for fixing the following parts is arranged at the lower bottom corner; the sensor fixing side plate is composed of a T-shaped rod and a cylinder, a through hole with the diameter of 6mm is formed in the center of the cylinder and used for mounting a shaft sleeve, countersunk holes for fixing the Hall angle sensor are formed in the upper side and the lower side of the through hole, and 2M 3 threaded holes are formed in the T-shaped rod and used for fixing; the fillet rectangular groove at one side of the frame motor fixing side plate is communicated with the fillet rectangular groove at the side plate A, and the countersunk hole at the other side corresponds to the threaded hole of the frame drive motor stator; the inner diameter of the shaft sleeve is 3mm, and the outer diameter of the shaft sleeve is 6 mm; the rotating shaft of the frame driving motor is provided with a cylindrical channel with the diameter of 8mm, and the cylindrical channel can be used for equipment wiring.
Further, the sensor fixing side plate and the frame driving motor side plate are respectively installed on the platforms of the long waist bottom angle and the short waist bottom angle of the trapezoidal base and are fixedly connected through screws; the Hall angle sensor is fixedly connected with the sensor fixing side plate through a screw; the shaft sleeve is coaxially connected with the Hall angle sensor rotor shaft; the frame driving motor stator is fixedly connected with the frame driving motor fixing side plate through screws.
Furthermore, the three major subsystems of the variable speed control moment gyro group (VSCMGs) device in the pentagonal pyramid configuration are connected in a general manner; but the split charging is different, so that the disassembly and the assembly are convenient; the method comprises the following steps of:
after the frame support and driving system is installed according to the description, a side plate A in the gyro frame system is fixedly connected with a holder motor rotor, and a side plate B is coaxially connected with a Hall angle sensor rotor shaft through a central through hole and is provided with a set screw to fix the position; then, sequentially installing a flywheel motor to the motor fixing frame, wherein the motor fixing frame and the top frame are fixedly connected with the side plate A and the side plate B respectively; and finishing the steps to represent that the installation of one variable speed control moment gyro device is finished.
Furthermore, the five variable speed control moment gyro devices are respectively fixed at the designated positions of the base after being installed; the pentagonal fixing parts are fixedly connected with trapezoidal bases in the five variable speed control moment gyro devices.
The invention has the advantages that:
the pentagonal protective shell is made of POM materials, so that the weight is light, and the strength is high.
Most parts of the variable speed control moment gyro device are made of aviation aluminum materials, and the surface of the variable speed control moment gyro device is subjected to blackening treatment; the parts have simple structures, high light weight degree and easy disassembly and assembly; the pentagonal fixing part also comprises a circuit hiding design, and the circuit can penetrate through the circular channel to enable the device to be more concise in appearance.
The maximum rotating speed of the flywheel adopted by the invention reaches 30000r/min, the speed change interval is large, and the operation range of the device is enlarged; the frame driving click reaction speed is high, and the Hall angle sensor is adopted to measure the frame angular speed, so that the function is relatively complete.
Drawings
FIG. 1 is a schematic diagram of a connection mode between a base and five single-frame control moment gyro devices according to an embodiment of the present invention;
FIG. 2 is a schematic view of a base, a receiving shell, and a top cover provided in accordance with an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a gyro frame system provided in an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a frame support and drive system according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a variable speed control moment gyro device provided by an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a pentagonal fixing element according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a trapezoidal base and a motor fixing frame provided in the embodiment of the present invention;
fig. 8 is a schematic diagram of a side plate a and a frame driving motor fixing side plate according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail with reference to the drawings, wherein the apparatus components and specific features are designated by numerals.
As shown in fig. 1, a schematic diagram of a connection manner between a base 1 and five variable-speed control moment gyro devices according to an embodiment of the present invention is provided.
Fig. 2 shows the pentagonal protective shell system, which comprises: base 1, accept shell 2, top cap 3.
The geometrical shapes of the bottom end plane and the opening end plane of the base 1 are regular pentagons, the bottom end plane is provided with five radial reinforcing ribs pointing to all vertexes of the pentagon from the central point of the regular pentagon, M3 coarse tooth threaded holes for mounting a variable speed control moment gyroscope device are formed in the reinforcing ribs, and each vertex angle of the pentagon with the opening end is provided with a countersunk hole for fixing a screw; the bearing shell is a regular pentagon stretching body, and an M3 coarse tooth threaded hole for fixing a screw is arranged at each vertex angle of the regular pentagon, and has the function of strengthening rigidity with the outer cylinder of the threaded hole corresponding to the countersunk hole of the base 1; the geometric shape of the opening end of the top cover 3 is the same as that of the opening end of the base 1, countersunk holes for fixing screws are arranged at vertex angles, the depth of the top cover 3 is the same as that of the base 1, and the basic characteristics are consistent with those of the base 1; the open ends of the base 1, the receiving shell 2 and the top cover 3 are provided with stepped positioning grooves, and the inner part and the outer part correspond to each other during installation and are tightly connected after being fixed by screws.
The vertex angle M3 threaded hole of the bearing shell 2 is matched with the countersunk hole of the base 1 and then is fixedly connected with the countersunk hole through a screw; and the top cover 3 top corner countersunk hole and the bearing shell 2 top corner M3 threaded hole are fixedly connected through a screw.
Fig. 3 shows a top frame system, which includes: the device comprises a flywheel motor 4, a motor fixing frame 5, a side plate A6, a side plate B7 and a top frame 8.
The flywheel motor 4 is a customized motor, wherein a flywheel is a motor rotor, and the dead weight of a 50g flywheel can generate larger angular momentum during high-speed rotation; the motor fixing frame 5 is axisymmetrical about a central shaft, and a countersunk hole for fixing the flywheel motor 4 is formed in a central circle; the motor fixing frame 5 is provided with a rectangular positioning groove 9 and countersunk holes for mounting the side plate A6 and the side plate B7; one side of the side plate A6 is provided with a round-corner rectangular groove 10, and the other side of the side plate A6 is provided with a rectangular open groove which forms an L-shaped channel together with the round-corner rectangular groove 10, so that equipment wiring can be realized, and wire flying and appearance compactness can be avoided; the side plate A6 is provided with a counter bore and a lightening hole for mounting the following parts, and the upper end and the lower end of the side plate A are provided with M3 threaded holes for fixing a frame; the side plate B7 is symmetrical about a central shaft, the upper end and the lower end of the side plate B7 are provided with a positioning lug 11 and an M3 threaded hole for fixing, the diameter of a central through hole is 3mm and is the same as that of the rotor shaft of the Hall angle sensor, and the side wall of the through hole is provided with an M3 threaded hole for mounting a set screw; the top frame 8 has substantially the same geometry as the motor fixing frame 5 except that the top frame 8 has rectangular positioning grooves at both left and right ends and the diameter of the center circle is determined in consideration of the center of gravity of the gyro frame system.
The threaded hole of the base of the flywheel motor 4 is matched with the central circular countersunk hole of the motor fixing frame 5 and then is fixedly connected with the motor fixing frame through a screw; one end of the side plate A6 without the positioning lug is fixedly connected with the motor fixing frame 5 through a screw, and the upper end and the lower end of the side plate B7 can be connected with the click fixing frame and are fixedly connected through the screw after being matched with the rectangular positioning groove 9 through the positioning lug 11; the positioning grooves 9 on the left side and the right side of the top frame 8 are matched with the positioning lugs of the side plate A6 and the side plate B7 and then are fixedly connected through screws; the rigidity of the frame can be effectively enhanced through the positioning design, and the vibration influence generated when the flywheel rotates is reduced.
Fig. 4 shows a frame support and drive system, which includes: the device comprises a trapezoidal base 12, a sensor fixing side plate 13, a frame driving motor fixing side plate 14, a Hall angle sensor 15, a shaft sleeve 16 and a frame driving motor 17.
Features of the parts shown in FIG. 4; the trapezoidal base 12 is composed of two sections of waists with different lengths and one section of upper bottom as the name suggests, and the opening of the lower bottom is not connected; the long waist and the short waist of the trapezoidal base 12 are perpendicular, the short waist and the upper bottom form 63.49 degrees, through holes for fixing are arranged on the long waist and the short waist, and a platform 18 for fixing the following parts is arranged at the lower bottom corner; the sensor fixing side plate 13 is composed of a T-shaped rod and a cylinder, a through hole with the diameter of 6mm is formed in the center of the cylinder and used for mounting the shaft sleeve 16, countersunk holes for fixing the Hall angle sensor 15 are formed in the upper side and the lower side of the through hole, and 2M 3 threaded holes are formed in the T-shaped rod and used for fixing; the round-corner rectangular groove 10 at one side of the frame motor fixing side plate 14 is communicated with the round-corner rectangular groove 10 of the side plate A6, and the countersunk hole at the other side corresponds to the stator threaded hole of the frame driving motor 17; the inner diameter of the shaft sleeve 16 is 3mm, and the outer diameter is 6 mm; the rotating shaft of the frame driving motor is provided with a cylindrical channel with the diameter of 8mm, and the cylindrical channel can be used for equipment wiring.
The respective parts mounting positions shown in fig. 4; the sensor fixing side plate 13 and the frame driving motor side plate 14 are respectively installed on the platforms 18 of the long waist bottom angle and the short waist bottom angle of the trapezoidal base 12 and are fixedly connected by screws; the Hall angle sensor 14 is fixedly connected with the sensor fixing side plate through a screw; the shaft sleeve 16 is coaxially connected with a rotor shaft of the Hall angle sensor 15; the stator of the frame driving motor 17 is fixedly connected with the fixed side plate 14 of the frame driving motor through screws (note that the connector lug of the stator points to the trapezoid base 12).
The gyro frame system and the frame support and drive system can be assembled in the next step after being installed; the side plate A6 is fixedly connected with a rotor of the frame driving motor 17, the side plate B7 is fixedly connected with a rotor shaft of the Hall angle sensor 15, and the assembly of the variable speed control moment gyro device is completed after the parts are connected. (to achieve simple and quick installation, the installation order of the devices can be defined according to individual requirements during the actual assembly process)
The five variable speed control moment gyro devices are connected in parallel through the pentagonal fixing parts 19 and then are installed at the bottom of the base 1, so that the assembly of the variable speed control moment gyro group (VSCMGs) devices in the pentagonal pyramid structure is completed.
In summary, the invention provides a variable speed control moment gyro group (VSCMGs) device with a pentagonal pyramid structure for high-precision attitude control of a future spacecraft. The rotating shaft of the gyro frame system forms 63.49 degrees with the horizontal direction, and the gyro has no strangeness problem under the condition of only attitude control due to the variable speed control moment, and the moment output can be effectively amplified by the angle; the parts of the invention have simple structure and high light weight, and the invention also comprises a circuit hiding design, thus leading the device to be more concise; the maximum rotating speed of the flywheel adopted by the invention reaches 30000r/min, the speed change interval is large, and the operation range of the device is enlarged; the frame driving click reaction speed is high, and the Hall angle sensor is adopted to measure the frame angular speed, so that the function is relatively complete.
Although the present invention has been disclosed in the above preferred embodiments, the description is not intended to limit the invention, and those skilled in the art can make modifications and variations of the technical requirements of the present invention without departing from the scope of the technical requirements of the invention; any simple modification and the like of the above embodiments are within the protection scope of the technical solution of the present invention (without departing from the technical requirements of the present invention).

Claims (7)

1. Variable-speed control moment gyro group (VSCMGs) device in a pentagonal pyramid configuration, comprising: the pentagonal protective shell mechanism comprises five identical variable-speed control moment gyro devices; pentagonal protective housing mechanism includes: the device comprises a base, a bearing shell and a top cover; the variable speed control moment gyro device includes: the gyroscope frame system, the frame supporting and driving system and the pentagonal fixing part are arranged on the gyroscope frame system;
the top frame system is fixedly connected with the external supporting seat system; the frame supporting and driving system is fixedly connected with a base in the pentagonal protective shell mechanism; the pentagonal fixing part is fixedly connected with the frame support and driving system.
2. The pentagonal-pyramid configured variable speed control moment gyro group (VSCMGs) apparatus as claimed in claim 1, wherein said gyro frame system comprises: the device comprises a flywheel motor, a motor fixing frame, a side plate A, a side plate B and a top frame; the frame support and drive system comprises: trapezoidal base, sensor fixed curb plate, frame driving motor fixed curb plate, hall angle sensor, axle sleeve, frame driving motor.
3. The pentagonal pyramid configured variable speed control moment gyro group (VSCMGs) device as claimed in claim 1, wherein a bearing housing of the pentagonal protective housing mechanism is fixedly connected to the base by screws; the top cover and the bearing shell are fixedly connected through screws.
4. The pentagonal pyramid configured variable speed control moment gyro group (VSCMGs) device as claimed in claim 2, wherein the flywheel motor and the motor fixing frame in the gyro frame system are fixedly connected by screws; the side plate A and the side plate B are fixedly connected with the motor fixing frame through screws; the top frame is fixedly connected with the shell A and the shell B through screws; and after the operation is finished, the installation of the gyro frame system is finished.
5. The pentagonal-pyramid configured variable speed control moment gyro group (VSCMGs) device as claimed in claim 2,
the sensor fixing side plate in the frame supporting and driving system is fixedly connected with the trapezoidal base through a screw; the holder motor fixing side plate is fixedly connected with the trapezoidal base through a screw; the Hall angle sensor is fixedly connected with the sensor fixing side plate through a screw; the shaft sleeve is coaxially connected with the Hall angle sensor rotor shaft; the holder motor stator is fixedly connected with the holder motor fixing side plate through a screw;
after the operation is finished, the frame support and the driving system are installed; and then, fixedly connecting a side plate A in the gyro frame system with a holder motor rotor, fixedly connecting a side plate B with a Hall angle sensor rotor shaft, and finishing the installation of the variable speed control moment gyro device after finishing the operation.
6. The variable speed control moment gyro group (VSCMGs) device in a pentagonal pyramid configuration as claimed in claim 1, wherein the pentagonal fixing part is fixedly connected to the trapezoidal base of the five variable speed control moment gyro devices by screws, respectively.
7. The variable speed control moment gyro group (VSCMGs) device in the pentagonal pyramid configuration as claimed in claim 1, wherein the five variable speed control moment gyro devices are placed on the base at an angle of 72 ° with respect to each other and fixed by screws; the angle between the rotating shaft of the gyro frame system and the horizontal plane is 63.49 degrees, the angle is obtained by modeling calculation and simulation of a gyro model, and the stability of torque output can be effectively ensured.
CN202010704733.9A 2020-07-21 2020-07-21 Variable speed control moment gyro group (VSCMGs) device with pentagonal pyramid structure Withdrawn CN111795279A (en)

Priority Applications (1)

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CN202010704733.9A CN111795279A (en) 2020-07-21 2020-07-21 Variable speed control moment gyro group (VSCMGs) device with pentagonal pyramid structure

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Application publication date: 20201020