CN112994524B - Multi-degree-of-freedom spherical driver applied to control load system of aviation aircraft - Google Patents
Multi-degree-of-freedom spherical driver applied to control load system of aviation aircraft Download PDFInfo
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- CN112994524B CN112994524B CN202110332696.8A CN202110332696A CN112994524B CN 112994524 B CN112994524 B CN 112994524B CN 202110332696 A CN202110332696 A CN 202110332696A CN 112994524 B CN112994524 B CN 112994524B
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- winding
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N11/00—Generators or motors not provided for elsewhere; Alleged perpetua mobilia obtained by electric or magnetic means
- H02N11/006—Motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
Abstract
The invention discloses a multi-degree-of-freedom spherical driver applied to an aircraft control load system, which comprises a base, a first permanent magnet, a winding, a back iron and an end effector, wherein the first permanent magnet, the winding and the back iron are all spherical, the first permanent magnet is fixed on the base, the winding and the back iron are sleeved on the first permanent magnet from inside to outside, the lower end of the back iron is fixedly connected with the base, the upper end of the back iron is provided with a through hole for the end effector to obliquely swing, the end effector is fixedly connected with the upper end of the winding through the through hole, the inner surface of the winding is in sliding fit with the outer surface of the first permanent magnet, the outer surface of the winding is in sliding fit with the inner surface of the back iron, the magnetizing direction of the first permanent magnet points to the base or faces away from the base, and a coil of the winding is wound along the circumferential direction of any horizontal section of the winding. The invention has two different motion effects of active motion and passive motion, and the system has variable torque rigidity, and can realize multi-degree-of-freedom motion and provide force perception for operating a load system.
Description
Technical Field
The invention relates to the technical field of an aviation aircraft control load system, in particular to a multi-degree-of-freedom spherical driver applied to the aviation aircraft control load system.
Background
The control load system calculates the force to be applied to the control lever in real time according to the flight state and the control mode (active driving or automatic driving) of the aircraft, and provides control force perception for the pilot. The pilot needs to make corresponding judgment and execute corresponding operation according to the change of the operating force perception, and the operating force perception provides a main basis for the pilot to judge the flight state. The traditional control load system is mechanical or hydraulic to realize multi-degree-of-freedom motion and force sensing of a control lever, but has the defects of large space volume, difficulty in installation and maintenance, hysteresis and the like. As fly-by-wire systems have become a growing trend in aerospace vehicles, there is a need for a steering load system that can achieve multiple degrees of freedom of motion and provide force sensing.
Most of the existing drivers output single-degree-of-freedom motion, such as rotation motion or parallel movement. In order to realize multi-degree-of-freedom motion, the multi-degree-of-freedom motion can be output only by adopting a plurality of drivers and a plurality of motion transmission structures in a complex connection mode such as series connection or parallel connection.
The existing single driver can not meet the requirement of multi-degree-of-freedom motion, and the serial connection or parallel connection of multiple drivers can cause a plurality of problems of accumulated error, low efficiency and the like of an end actuating element. Meanwhile, the multi-degree-of-freedom output system is composed of a plurality of components, so that the system structure is extremely complex, and the reliability is limited by each component.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom spherical driver applied to an aviation aircraft control load system. The multi-degree-of-freedom spherical driver has two different motion effects of active motion and passive motion, and the system has variable torque rigidity, and can realize multi-degree-of-freedom motion and provide force perception for operating a load system.
In order to achieve the above objects, the present invention provides a multi-degree-of-freedom ball driver, which includes a base, a first permanent magnet, a winding, a back iron, and an end effector, the first permanent magnet, the winding and the back iron are all spherical in shape, the first permanent magnet is fixed on the machine base, the winding and the back iron are sleeved on the first permanent magnet from inside to outside, the lower end of the back iron is fixedly connected with the machine base, the upper end of the back iron is provided with a through hole for the end effector to obliquely swing, the end effector is fixedly connected with the upper end of the winding through the through hole, the inner surface of the winding is in sliding fit with the outer surface of the first permanent magnet, the outer surface of the winding is in sliding fit with the inner surface of the back iron, the magnetizing direction of the first permanent magnet points to the base or faces away from the base, and the coil of the winding is wound along the circumferential direction of any horizontal section of the winding.
As a preferable scheme of the present invention, a second permanent magnet is annularly disposed in a middle portion of the back iron, and a magnetizing direction of the second permanent magnet is opposite to a magnetizing direction of the first permanent magnet.
As a preferable scheme of the invention, a plurality of bull-eye bearings are uniformly distributed on the winding along the circumferential direction of the winding.
As a preferable scheme of the present invention, the through hole is a circular hole.
Compared with the prior art, the multi-degree-of-freedom spherical driver applied to the control load system of the aviation aircraft has the beneficial effects that:
the multi-degree-of-freedom spherical driver realizes multi-degree-of-freedom movement by a simple structure through the winding wound on the surface of the spherical first permanent magnet, and has low processing and manufacturing cost; meanwhile, due to the structure and electromagnetic relation between the first permanent magnet and the winding, the end effector fixed on the winding can realize inclined motion around any axis, so that the problem that the end effector can only obliquely swing along a fixed shaft is solved, and the problems of accumulated error, low efficiency, complex system structure and the like of the end effector caused by series connection or parallel connection of traditional multiple drivers are solved; in addition, the multi-degree-of-freedom spherical driver can lead the winding to have two different motion effects of active motion and passive motion by leading currents in different directions to the winding; finally, the output torque of the multi-degree-of-freedom spherical driver can change along with the rotation angle of the winding, and the effect of variable rigidity of the system torque is achieved. Therefore, the multi-degree-of-freedom spherical driver can be suitable for an aviation aircraft control load system, and can realize multi-degree-of-freedom movement and provide force perception for the control load system.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
Fig. 1 is a schematic structural diagram of a multi-degree-of-freedom ball-type driver applied to an aircraft control load system.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 1, a preferred embodiment of the present invention provides a multi-degree-of-freedom spherical driver applied to an aircraft control load system, which includes a base 1, a first permanent magnet 2 (as a stator), a winding 3 (as a rotor), a back iron 4 and an end effector 5, wherein the first permanent magnet 2, the winding 3 and the back iron 4 are all spherical in shape, the first permanent magnet 2 is fixed on the base 1, the winding 3 and the back iron 4 are sleeved on the first permanent magnet 2 from inside to outside, the lower end of the back iron 4 is fixedly connected with the base 1, the upper end of the back iron 4 is provided with a through hole 8 through which the end effector 5 can obliquely swing, the end effector 5 is fixedly connected with the upper end of the winding 3 through the through hole 8, the inner surface of the winding 3 is in sliding fit with the outer surface of the first permanent magnet 2, the outer surface of the winding 3 is in sliding fit with the inner surface of the back iron 4, the magnetizing direction of the first permanent magnet 2 points to the base 1 or faces away from the base 1, and the coil of the winding 3 is wound along the circumferential direction of any horizontal section of the winding 3.
The working principle of the multi-degree-of-freedom spherical driver of the embodiment is as follows: taking the magnetizing direction of the first permanent magnet 2 back to the base 1 as an example, that is, the upper magnetic pole of the first permanent magnet 2 is an N pole, and the lower magnetic pole is an S pole, when the current direction of the winding 3 is counterclockwise in a top view in fig. 1, according to the right-hand rule in physical electromagnetism, the direction of the magnetic field generated by the current of the winding 3 can be determined, the N pole of the current generating magnetic field is on the upper side of the winding 3, and the S pole of the current generating magnetic field is on the lower side of the winding 3, so that under the action of homopolar repulsion, the winding 3 can actively move around any axis to incline the end effector 5 thereon, and therefore, in the process of operating the aircraft control stick, a pilot only needs to give the aircraft control stick an inclination trend, and the aircraft control stick can actively incline to the inclination trend, so as to realize automatic driving; when the current direction of the winding 3 is clockwise in the overlooking view in fig. 1, according to the right-hand rule in the physical electromagnetism, the direction of a magnetic field generated by the current of the winding 3 can be judged, the upper side of the winding 3 is the S pole of the current generating magnetic field, and the lower side of the winding 3 is the N pole of the current generating magnetic field, so that under the action of heteropolar attraction, if the end effector 5 is in an inclined state, the winding 3 can passively move around any axis, so that the end effector 5 in the inclined state has a reset force for resetting to the central position, therefore, a pilot can sense the force applied to a control lever by a control load system in the process of operating the control lever of the aerocraft, and the degree of vividness of force sensing when the pilot drives the aerocraft is improved.
Therefore, the multi-degree-of-freedom spherical driver realizes multi-degree-of-freedom movement with a simple structure through the winding 3 wound on the surface of the spherical first permanent magnet 2, and has low processing and manufacturing cost; meanwhile, due to the structure and electromagnetic relation of the first permanent magnet 2 and the winding 3, the end effector 5 fixed on the winding 3 can realize inclined motion around any axis, so that the problem that the end effector 5 can only obliquely swing along a fixed shaft is solved, and the problems of accumulated error, low efficiency, complex system structure and the like of the end effector 5 caused by series connection or parallel connection of traditional multiple drivers are solved; in addition, the multi-degree-of-freedom spherical driver can lead the winding 3 to have two different motion effects of active motion and passive motion by leading currents in different directions to the winding 3; finally, the output torque of the multi-degree-of-freedom spherical driver can be changed along with the rotation angle of the winding 3, and the effect of variable rigidity of the system torque is achieved. Therefore, the multi-degree-of-freedom spherical driver can be applied to an aviation aircraft control load system, and can realize multi-degree-of-freedom movement and provide force perception for the control load system.
Illustratively, as shown in fig. 1, a second permanent magnet 6 is annularly arranged in the middle of the back iron 4, and the magnetizing direction of the second permanent magnet 6 is opposite to that of the first permanent magnet 2. Thus, the second permanent magnet 6 is provided, so that the magnetic flux density can be increased and the output torque can be increased.
Illustratively, as shown in fig. 1, the winding 3 is evenly distributed with a plurality of bull-eye bearings 7 along the circumference. From this, through the setting of bull's eye bearing 7, can play the effect of support for the air gap between winding 3 and the first permanent magnet 2 is more even, has guaranteed winding 3 and the concentricity of first permanent magnet 2 simultaneously.
Illustratively, the through hole 8 is preferably a circular hole, so that the maximum inclination angles of the multi-degree-of-freedom ball-type driver in the inclined motion in any direction are the same.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (4)
1. The multi-degree-of-freedom spherical driver applied to an aircraft control load system is characterized by comprising a base, a first permanent magnet, a winding, a back iron and an end effector, wherein the first permanent magnet, the winding and the back iron are all spherical in shape, the first permanent magnet is fixed on the base, the winding and the back iron are sleeved on the first permanent magnet from inside to outside, the lower end of the back iron is fixedly connected with the base, the upper end of the back iron is provided with a through hole for the end effector to obliquely swing, the end effector is fixedly connected with the upper end of the winding through the through hole, the inner surface of the winding is in sliding fit with the outer surface of the first permanent magnet, the outer surface of the winding is in sliding fit with the inner surface of the back iron, and the magnetizing direction of the first permanent magnet points to the base or faces away from the base, the coils of the winding are wound in the circumferential direction of any horizontal cross section of the winding.
2. The multi-degree-of-freedom ball driver applied to the operating load system of the aerocraft as claimed in claim 1, wherein a second permanent magnet is annularly arranged in the middle of the back iron, and the magnetizing direction of the second permanent magnet is opposite to that of the first permanent magnet.
3. The multi-degree-of-freedom ball-type actuator applied to an aircraft maneuvering load system according to claim 1, characterized in that the winding is evenly distributed with a plurality of bull's eye bearings along its circumference.
4. The multi-degree-of-freedom ball-type actuator applied to an aircraft maneuvering load system according to claim 1, characterized in that the through hole is a circular hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110332696.8A CN112994524B (en) | 2021-03-29 | 2021-03-29 | Multi-degree-of-freedom spherical driver applied to control load system of aviation aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110332696.8A CN112994524B (en) | 2021-03-29 | 2021-03-29 | Multi-degree-of-freedom spherical driver applied to control load system of aviation aircraft |
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| CN112994524A CN112994524A (en) | 2021-06-18 |
| CN112994524B true CN112994524B (en) | 2022-05-03 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108746A (en) * | 2015-08-10 | 2015-12-02 | 广东工业大学 | Multi-degree-of-freedom joint robot arm |
| CN105703528A (en) * | 2016-03-16 | 2016-06-22 | 何国华 | Steering wheel hub system for ball hinge universal rotary motor |
| CN106151271A (en) * | 2016-08-15 | 2016-11-23 | 江苏大学 | A kind of five degree of freedom external rotor permanent magnet biases spherical magnetic bearing |
| CN107181339A (en) * | 2017-06-07 | 2017-09-19 | 北京航空航天大学 | A kind of ball motor for aircraft master end lever system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180086450A1 (en) * | 2016-09-27 | 2018-03-29 | Young Chan Park | Amphibious flying vehicle |
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- 2021-03-29 CN CN202110332696.8A patent/CN112994524B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108746A (en) * | 2015-08-10 | 2015-12-02 | 广东工业大学 | Multi-degree-of-freedom joint robot arm |
| CN105703528A (en) * | 2016-03-16 | 2016-06-22 | 何国华 | Steering wheel hub system for ball hinge universal rotary motor |
| CN106151271A (en) * | 2016-08-15 | 2016-11-23 | 江苏大学 | A kind of five degree of freedom external rotor permanent magnet biases spherical magnetic bearing |
| CN107181339A (en) * | 2017-06-07 | 2017-09-19 | 北京航空航天大学 | A kind of ball motor for aircraft master end lever system |
Non-Patent Citations (1)
| Title |
|---|
| Analysis of multi-degree of freedom magnetic suspension motor based on FEM;Mengmeng Yu 等;《2019 IEEE 8th International Conference on Fluid Power and Mechatronics 》;20200316;第1373-1377页 * |
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