JP6707010B2 - Attitude control device - Google Patents

Description

The present invention relates to a posture control device that changes a posture of a posture control target in a three-dimensional space.

Traditionally, the reaction wheel has a rotating shaft that is fixed in one direction, and it is possible to accumulate angular momentum and generate reaction torque only in a fixed axis direction with respect to the surface on which the reaction wheel is mounted. Is becoming Therefore, in order to generate the reaction torque in any direction of the three-dimensional space, it is necessary to install three reaction wheels. Therefore, in view of such a situation, in recent years, a three-dimensional reaction wheel that can generate torque around an arbitrary axis of a three-dimensional space by using only one unit has been proposed (for example, Patent Documents 1 to 1). 3).

A conventional three-dimensional reaction wheel includes a spherical rotor made of a solid substance such as a magnetic material, and a spherical shell-shaped stator provided so as to be concentric with the spherical rotor. Such a three-dimensional reaction wheel, while maintaining the relative positional relationship between the spherical rotor and the spherical shell-shaped stator, applies reaction torque generated by a change in the rotational speed of the spherical rotor due to the application of a magnetic field to the spherical rotor. As the driving force, the posture of the posture control target can be changed.

JP-A-62-225500 JP, 2008-80888, A JP, 8-156896, A

A conventional three-dimensional reaction wheel is configured to support a spherical rotor with a bearing. Accordingly, mechanical friction or collision occurs between the spherical shell-shaped stator and the spherical rotor when using a vibration environment at the time of launching a rocket or the like, or when using an attitude control device such as a thruster other than the reaction wheel. As a result, the spherical shell-shaped stator and the spherical rotor may be worn or broken due to long-term use, so that the conventional three-dimensional reaction wheel is not so reliable. There's a problem.

Further, in the conventional three-dimensional reaction wheel, when a mechanism for preventing the spherical shell-shaped stator and the spherical rotor from being worn is separately provided, the structure of the addition mechanism to the three-dimensional reaction wheel becomes complicated. As a result, there is a problem that the weight of the entire three-dimensional reaction wheel system increases.

The present invention has been made to solve the above problems, and an attitude control device capable of generating a torque around an axis of a three-dimensional space while achieving high reliability and weight reduction. Aim to get.

The attitude control device according to the present invention is an attitude control device that changes the attitude of an attitude control target in a three-dimensional space, and is provided inside the hollow first stator and the first stator. A second stator fixed to the stator, a functional fluid filled in a gap between the first stator and the second stator, and a functional fluid provided on the surface of the first stator, A plurality of magnetic field generators that apply a magnetic field to the functional fluid and cause the functional fluid to flow according to the applied magnetic field, and a voltage application circuit that applies a voltage between the first stator and the second stator, It is equipped with.

ADVANTAGE OF THE INVENTION According to this invention, the attitude|position control apparatus which can generate|occur|produce a torque around the axis|shaft of three-dimensional space can be obtained, aiming at realization of weight reduction and high reliability.

FIG. 3 is a perspective view of an attitude control target equipped with the attitude control device according to the first embodiment of the present invention. FIG. 3 is a perspective view showing the attitude control device in the first embodiment of the present invention. FIG. 3 is a sectional view of the inside of the attitude control device of FIG. 2. It is a perspective view of the attitude control device in Embodiment 2 of the present invention. It is a perspective view of the attitude control device in Embodiment 3 of the present invention. FIG. 6 is a cross-sectional view of the inside of the attitude control device of FIG. 5.

An attitude control device according to the present invention will be described below with reference to the drawings according to a preferred embodiment. In the description of the drawings, the same portions or corresponding portions will be denoted by the same reference symbols, without redundant description.

Embodiment 1.
FIG. 1 is a perspective view of an attitude control target 7 on which an attitude control device 10 according to Embodiment 1 of the present invention is mounted.

In the first embodiment, as an example of the attitude control target 7 on which the attitude control device 10 is mounted, a case where the attitude control target 7 is an artificial satellite is illustrated. Further, the orthogonal coordinate system of the three-dimensional space is defined by X-axis, Y-axis and Z-axis which are orthogonal to each other, and the center of the posture control target 7 and the center of the first stator 1 constituting the posture control device 10 are orthogonal. The origin of the coordinate system.

As shown in FIG. 1, the center panel 6 is fixed to the center of the posture control target 7. The attitude control device 10 is attached to the center of the center panel 6 and is fixed to the center panel 6.

Next, the attitude control device 10 will be described with reference to FIGS. 2 and 3 in addition to FIG. FIG. 2 is a perspective view showing attitude control device 10 in accordance with the first exemplary embodiment of the present invention. FIG. 3 is a sectional view of the inside of the attitude control device 10 of FIG.

Note that, in FIG. 2, in addition to the external configuration of the attitude control device 10, the internal configuration is also shown by cutting a part of the attitude control device 10. Further, FIG. 3 shows a cross-sectional view of the cross section taken along the YZ plane or the XY plane passing through the center of the attitude control device 10 in FIG. 2 when viewed from the front.

The attitude control device 10 includes a first stator 1, a second stator 4 provided inside the first stator 1 and fixed to the first stator 1, and a first stator 1. The functional fluid 5 filled in the gap between the child 1 and the second stator 4 is provided on the surface of the first stator 1, and a magnetic field is applied to the functional fluid 5 to function according to the applied magnetic field. A plurality of magnetic field generators 2a to 2f that cause the sexual fluid 5 to flow are provided.

The first stator 1 is formed of a conductor and has a spherical shell shape. That is, it can be said that the first stator 1 has a hollow portion having a spherical shape.

The second stator 4 is formed of a conductor and has a solid spherical shape. The radius of the second stator 4 is smaller than the radius of the first stator 1. The second stator 4 is supported concentrically with the first stator 1 by being supported by the support body 3. That is, the center of the first stator 1 and the center of the second stator 4 coincide with each other.

Each of the magnetic field generators 2a to 2f is for generating a magnetic field, and is configured by using a coil wound around the coordinate axis of the orthogonal coordinate system. The magnetic field generators 2a to 2f are provided three-dimensionally with respect to the center of the first stator 1.

Specifically, the pair of magnetic field generators 2b and 2d are provided on the X axis so as to face each other with the first stator 1 interposed therebetween. The pair of magnetic field generators 2e and 2f are provided on the Y axis so as to face each other with the first stator 1 interposed therebetween. The pair of magnetic field generators 2a and 2c are provided on the Z axis so as to face each other with the first stator 1 interposed therebetween. As described above, the magnetic field generators 2a to 2f are provided in the three-dimensional space while maintaining the intervals of 90 degrees along the X axis, the Y axis, and the Z axis with the origin of the orthogonal coordinate system as a reference.

The magnetic field generators 2 a to 2 f are fixed to the first stator 1 while penetrating the surface of the first stator 1. Further, the rotating magnetic field generated by the magnetic field generators 2 a to 2 f is applied to the functional fluid 5 without being affected by the first stator 1.

Next, the operation principle of the attitude control device 10 and the attitude change of the attitude control target 7 performed by the attitude control device 10 will be described.

The information regarding the posture to be changed by the posture control target 7 is determined according to the purpose of the posture control target 7 and is input as a command signal to the control unit (not shown) of the posture control device 10. The control unit controls the operations of the magnetic field generators 2a to 2f according to the command signal.

Here, in order to shift the posture control target 7 to the posture to be changed which is determined according to the purpose of the posture control target 7, the functional fluid 5 is rotated about an arbitrary rotation axis passing through the origin of the Cartesian coordinate system. Need to let. Therefore, a synthetic rotating magnetic field constituted by an arbitrary combination of magnetic field generators 2a to 2f each of which generates a magnetic field is applied to the functional fluid 5. In this case, the synthetic rotating magnetic field given to the functional fluid 5 becomes a traveling magnetic field, and a magneto-volume force along the traveling magnetic field is generated in the functional fluid 5, and as a result, the functional fluid 5 rotates.

In addition, in the three-dimensional reaction wheel described in Patent Document 3, in order to prevent the spherical shell-shaped stator and the spherical rotor from being worn, a magnetic material such as a magnetic material is used as a lubricant between the spherical shell-shaped stator and the spherical rotor. It is filled with fluid. In the three-dimensional reaction wheel described in Patent Document 3, the magnetic fluid plays a role as a lubricant. In fact, when a magnetic field is applied from the magnetic field generator to rotate the spherical rotor, the magnetic field is also applied to the magnetic fluid, so that the viscosity of the magnetic fluid increases and, as a result, The fluid may not serve as a lubricant.

On the other hand, in the attitude control device 10 according to the first embodiment, as can be seen from the above, the functional fluid 5 serves as a rotor.

As the functional fluid 5, for example, a magnetic fluid, an MR (Magneto-Rheological) fluid, an EMR fluid in which an MR fluid and an ER (Electro-Rheological) fluid are mixed, or a magnetic mixed fluid can be used.

Here, the magnetic fluid generally refers to a colloidal solution in which a ferromagnetic fine powder of about several tens nm is dispersed in a liquid phase. It is known that magnetic fluids have different properties with respect to the magnitude of magnetic volume force and the change in viscosity with respect to the strength of a magnetic field, depending on the diameter of the ferromagnetic powder. The MR fluid and the ER fluid change their viscoelastic properties in response to an electric field, a magnetic field and the like.

Next, a traveling magnetic field obtained by applying a synthetic rotating magnetic field to the functional fluid 5 will be described. In FIG. 2, as described above, an arrangement example of the magnetic field generators 2a to 2f that generate the rotating magnetic field given to the functional fluid 5 is shown.

Of the combined rotating magnetic field formed by any combination of these magnetic field generators 2a to 2f, the combined rotating magnetic field formed by the combination of magnetic field generators 2a, 2e, 2c, 2f rotates around the X axis. Further, the synthetic rotating magnetic field formed by the combination of the magnetic field generators 2a, 2b, 2c, 2d rotates around the Y axis, and the synthetic rotating magnetic field formed by the combination of the magnetic field generators 2b, 2e, 2d, 2f becomes , Rotate around the Z axis.

Therefore, by arbitrarily combining the synthetic rotating magnetic fields that rotate around the X-axis, the Y-axis, and the Z-axis, it is possible to obtain the synthetic rotating magnetic field that rotates around the arbitrary rotating axes. Moreover, this synthetic rotating magnetic field becomes a traveling magnetic field, and a magneto-volume force along the traveling magnetic field is generated in the functional fluid 5, and as a result, the functional fluid 5 rotates.

Further, when the functional fluid 5 is initially stationary with respect to the first stator 1, a difference from the maximum value of the rotation speed when the functional fluid 5 rotates with the application of the synthetic rotating magnetic field, A reaction torque is generated in a direction opposite to the direction in which the rotational angular velocity of the functional fluid 5 increases in accordance with the moment of inertia of the functional fluid 5 as a whole. By this reaction torque, the posture of the posture control target 7 can be changed.

In this way, the attitude control device 10 uses the reaction torque obtained by rotationally driving the functional fluid 5 filled in the gap between the first stator 1 and the second stator 4 by the magnetic volume force, The posture of the posture control target 7 can be changed around an arbitrary axis in the three-dimensional space.

Next, the merits of providing the second stator 4 inside the first stator 1 will be described. The second stator 4 avoids turbulence due to instability of the functional fluid 5 at the stagnation point of the functional fluid 5, which is considered to occur when the second stator 4 is not provided. It is provided for the purpose of That is, by providing the second stator 4, the flow of the functional fluid 5 filled in the gap between the first stator 1 and the second stator 4 can be stabilized.

In addition, the support 3 used to fix the second stator 4 to the first stator 1 is made of a sufficiently thin wire or the like, so that the first stator 1 and the second stator 1 It is possible to sufficiently reduce the influence of resistance on the functional fluid 5 flowing in the gap between the functional fluid 5 and the fluid.

As described above, according to the attitude control device of the first embodiment, the hollow first stator and the second fixed member provided inside the first stator and fixed to the first stator. A functional fluid filled in the gap between the child, the first stator and the second stator, and a magnetic field to the functional fluid, which is provided on the surface of the first stator and responds to the applied magnetic field. And a plurality of magnetic field generators that cause the functional fluid to flow.

In the first embodiment, as a specific example, the plurality of magnetic field generators include a pair of magnetic field generators provided on the X axis so as to face each other with the first stator interposed therebetween, and A pair of magnetic field generators provided on the Y-axis so as to face each other via the stator, and a pair of magnetic field generators provided on the Z-axis so as to face each other via the first stator, Is illustrated as an example.

As a result, it is possible to obtain an attitude control device capable of generating torque around the axis of the three-dimensional space while achieving weight reduction and high reliability.

That is, by replacing a conventional spherical rotor made of a solid substance with a liquid that functions as a wheel, unlike a conventional three-dimensional reaction wheel, the physical shape of the spherical shell-shaped stator and the spherical rotor is different from that of the conventional spherical rotor. The mechanical wear of the wheel is significantly reduced because no significant contact occurs. Also, unlike conventional 3D reaction wheels, there is no physical gap between the spherical shell-shaped stator and the spherical rotor, so vibration resistance and shock resistance when unexpected external force is applied. The property is improved. Further, unlike the conventional three-dimensional reaction wheel, it is not necessary to provide an attached mechanism for magnetically levitating the spherical rotor, so that the weight of the entire device can be reduced.

Further, even when unexpected external vibration occurs, unlike the conventional three-dimensional reaction wheel, the spherical shell-shaped stator and the spherical rotor may collide, wear, or be deformed. Since it does not exist, the failure occurrence rate of the device can be suppressed.

Furthermore, by providing the second stator inside the first stator, turbulence is less likely to occur when the functional fluid flows, and the direction of the angular momentum obtained by rotating the functional fluid is increased. Stable and accurate control is possible. As a result, the posture changing performance of the posture control target equipped with the posture control device can be improved.

Embodiment 2.
In the second embodiment of the present invention, an attitude control device 10 including magnetic field generators 2g to 2j which are different in arrangement from the magnetic field generators 2a to 2f of the first embodiment will be described. In the second embodiment, description of the same points as in the first embodiment will be omitted, and points different from the first embodiment will be mainly described.

In the second embodiment, the orthogonal coordinate system is defined with the axis of the magnetic field generator 2j provided in the first stator 1 as the Y axis.

FIG. 4 is a perspective view of attitude control device 10 in accordance with the second exemplary embodiment of the present invention. Note that, in FIG. 4, in addition to the external configuration of the attitude control device 10, the internal configuration is also shown by cutting a part of the attitude control device 10.

In FIG. 4, the magnetic field generators 2g to 2j are provided one at each vertex of a regular tetrahedron whose center of gravity is the origin of the Cartesian coordinate system. This regular tetrahedron is inscribed in the first stator 1.

That is, when the axis of the magnetic field generator 2j is defined as the Y axis, the magnetic field generators 2g, 2h, 2i have an inclination of 120 degrees with respect to the Y axis. The magnetic field generators 2h, 2i, 2j are arranged at the vertices of an equilateral triangle when orthographically projected on the XY plane. The magnetic field generators 2g, 2h, 2j are arranged at the vertices of an equilateral triangle when orthographically projected on the YZ plane. The magnetic field generators 2g, 2h, 2i are arranged at the vertices of an equilateral triangle when orthographically projected on the XZ plane.

An axis about which a synthetic rotating magnetic field formed by a combination of magnetic field generators 2h, 2i, and 2j rotates, and an axis about which a synthetic rotating magnetic field formed by a combination of magnetic field generators 2g, 2h, and 2j rotates. The axis around which the synthetic rotating magnetic field formed by the combination of the magnetic field generators 2g, 2h, and 2i rotates is orthogonal to each other in the three-dimensional space. Therefore, it is possible to obtain a synthetic rotating magnetic field that rotates around an arbitrary rotation axis by arbitrarily combining the synthetic rotating magnetic fields that rotate around each of these three axes. Moreover, this synthetic rotating magnetic field becomes a traveling magnetic field, and a magneto-volume force along the traveling magnetic field is generated in the functional fluid 5, and as a result, the functional fluid 5 rotates.

The total number (=4) of the magnetic field generators 2g to 2j is the theoretical minimum number of magnetic field generators required to rotate the functional fluid 5 around an arbitrary rotation axis in the three-dimensional space. However, although the case where the six magnetic field generators are used is illustrated in the first embodiment, the redundancy can be achieved against the failure of the magnetic field generators by using the five or more magnetic field generators. There is an advantage.

As described above, according to the attitude control device of the second embodiment, the plurality of magnetic field generators include four magnetic field generators, one provided at each vertex of the regular tetrahedron having the origin of the Cartesian coordinate system as the center of gravity. Composed. Even with such a configuration, the same effect as that of the first embodiment can be obtained.

Embodiment 3.
In the third embodiment of the present invention, an attitude control device 10 further including a voltage application circuit 8 will be described. In the third embodiment, description of the same points as in the first embodiment will be omitted, and points different from the first embodiment will be mainly described.

Here, in the configuration of the attitude control device 10 according to the first embodiment described above, in the gap between the first stator 1 and the second stator 4, the region on the magnetic field generator 2a to 2f side and the second region. There is a possibility that the driving force cannot be uniformly generated in the entire functional fluid 5 in the region on the side of the stator 4. As a result, unintended turbulence may significantly impair the control performance of the attitude control device 10. In addition, the flow of the functional fluid 5 cannot be controlled due to the turbulent flow, which may cause a reaction torque in an unexpected direction. Further, the attitude control device 10 may not play the role of attitude control until the turbulent flow is suppressed.

Therefore, in consideration of various possibilities as described above, the attitude control device 10 according to the third embodiment is configured to further include the voltage applying circuit 8 in addition to the configuration of the first embodiment. There is. With such a configuration, it can be expected that the rotation of the functional fluid 5 can be stably controlled with higher responsiveness and uniform driving force as compared with the first embodiment.

FIG. 5 is a perspective view of attitude control device 10 in accordance with the third exemplary embodiment of the present invention. FIG. 6 is a cross-sectional view of the inside of the attitude control device 10 of FIG.

Note that, in FIG. 5, in addition to the external configuration of the attitude control device 10, the internal configuration is also shown by cutting a part of the attitude control device 10. Further, FIG. 6 shows a cross-sectional view of the cross section taken along the YZ plane or the XY plane passing through the center of the attitude control device 10 in FIG. 5, as viewed from the front.

As shown in FIG. 5, attitude control device 10 in the third exemplary embodiment further includes a voltage application circuit configured to include a DC power source and a switch in addition to the configuration of the first exemplary embodiment.

One end of the voltage application circuit 8 is electrically connected to the second stator 4 formed of a conductor via the support 3 formed of an insulator. The other end of the voltage applying circuit 8 is electrically connected to the first stator 1 formed of a conductor.

The voltage application circuit 8 includes a DC power supply that applies a voltage between the first stator 1 and the second stator. Therefore, in the voltage application circuit 8, by turning the switch on and off to control the applied voltage applied by the DC power supply, it is possible to significantly reduce the voltage between the first stator 1 and the second stator 4. A potential difference can be applied.

Here, the functional fluid 5 has a characteristic that the viscosity is further increased when the potential difference between the first stator 1 and the second stator 4 is increased. Therefore, by utilizing such a property, if a voltage is applied to the functional fluid 5 between the first stator 1 and the second stator, that is, the functional fluid 5 by the voltage application circuit 8, rotation of the functional fluid 5 occurs. The speed can be reduced.

Further, based on the difference between the maximum value of the rotation speed when the functional fluid 5 rotates due to the application of the synthetic rotating magnetic field and the moment of inertia of the entire functional fluid 5, the rotational angular velocity of the functional fluid 5 is determined. Reaction torque is generated in the direction opposite to the increasing or decreasing direction. By this reaction torque, the posture of the posture control target 7 can be changed.

Furthermore, in the third embodiment, the voltage is applied by the voltage application circuit 8 to change the viscosity of the functional fluid 5. This makes it possible to give a greater change in the rotational angular velocity of the functional fluid 5, as compared with the configuration of the first embodiment, that is, the configuration in which the viscosity of the functional fluid 5 is not changed. As a result, an effect that the torque generated by the attitude control device 10 can be increased can be expected.

The voltage application circuit 8 may be configured to make the voltage applied between the first stator 1 and the second stator variable. With this configuration, the value of the voltage applied to the functional fluid 5 can be adjusted in multiple stages, so that the viscosity change of the functional fluid 5 can be controlled in multiple stages. As a result, the effect that the torque generated by the attitude control device 10 can be controlled more efficiently can be expected.

In the above configuration, more specifically, when the control for generating the rotating magnetic field in the magnetic field generators 2a to 2f is performed, the first stator 1 and the second stator 4 are synchronized with this control. To be able to apply a potential difference between them. Further, the viscosity value of the functional fluid 5 is not a predetermined viscosity value, but the viscosity value can be controlled in multiple stages so as to have an arbitrary viscosity value according to the purpose. With this configuration, the resolution of the torque generated by the attitude control device 10 can be reduced, and the effect of reducing the resolution of the attitude change angle of the attitude control target 7 can be expected.

Here, if the second stator 4 is not provided inside the first stator 1, it is generally impossible to apply a voltage to the functional fluid 5, and as a result, No change in viscosity can occur. On the other hand, in the third embodiment, since the second stator 4 is provided inside the first stator 1, the gap between the first stator 1 and the second stator 4 is Can generate a potential difference, and as a result, a voltage can be applied to the functional fluid 5.

Further, in order to generate a potential difference between the first stator 1 and the second stator 4, the voltage applying circuit 8 and the first stator 1 and the second stator 4 are electrically connected by an electric wire. Need to be connected. Therefore, as an example, a configuration in which an electric wire is passed through the inside of the support body 3 formed of an insulator can be considered. Further, assuming that the support body 3 formed of an insulator has sufficient strength against the flow of the functional fluid 5, if the configuration of passing the electric wire inside the support body 3 is adopted, the electric wire functions. It does not affect the sexual fluid 5. In addition, by adopting a configuration in which the electric wire is passed through the inside of the support body 3, it is not necessary to separately consider the arrangement of the electric wire inside the support body 3, and the electric wire can be arranged using the existing support body 3. As a result, the structure for disposing the electric wire is simplified.

Although the third embodiment has been described by exemplifying the case where the voltage applying circuit 8 is provided in the configuration of the first embodiment, the voltage applying circuit is provided in the configuration of the second embodiment. Even if 8 is provided, the same effect can be obtained.

As described above, according to the attitude control device of the third embodiment, the voltage for applying the voltage between the first stator and the second stator is different from the configurations of the first and second embodiments. The application circuit is further provided.

As a result, the functional fluid can obtain a bulk elastic force with respect to the traveling magnetic field, so that the functional fluid can be rotated by the traveling magnetic field. Further, the functional fluid has a property that the viscosity of the functional fluid itself increases with respect to a static magnetic field. Therefore, by making good use of such a property, a larger reaction torque can be obtained.

That is, by utilizing such a property, not only the rotating magnetic field is applied to the functional fluid to generate the rotating force of the functional fluid, but also the first stator and the second stator Since a potential difference is applied between them, it is expected that a large reaction torque can be obtained by increasing the viscosity of the functional fluid and promptly decelerating the rotation of the functional fluid.

Embodiment 4.
In addition, although the case where the shape of the 2nd stator 4 is a solid spherical shape was illustrated in the above-mentioned Embodiments 1-3, it is not limited to this and the shape of the 2nd stator 4 is a spherical shell shape. It may be.

As described above, the weight of the second stator 4 can be reduced by making the shape of the second stator 4 spherical, and as a result, the weight of the attitude control device 10 can be reduced. It can be reduced.

Embodiment 5.
In addition, with respect to the configurations of the first to fourth embodiments, a cover that covers the entire first stator 1 and the plurality of magnetic field generators to block the rotating magnetic field generated by the plurality of magnetic field generators. The attitude control device 10 may be configured by further including. As the cover, for example, a spherical shell-shaped conductor or a film-shaped conductor may be used.

Here, the strong magnetic field generated by the magnetic field generator electromagnetically adversely affects peripheral electronic devices. Therefore, the rotating magnetic field generated by the plurality of magnetic field generators provided in the first stator 1 may adversely affect the peripheral device of the attitude control target 7 in which the attitude control device 10 is mounted.

Therefore, as described above, by covering the entire attitude control device 10 with the cover, the rotating magnetic fields generated by the plurality of magnetic field generators are blocked, so that adverse effects of the rotating magnetic field on peripheral devices of the attitude control target 7 are avoided. can do.

Sixth embodiment.
The functional fluid 5 that functions as the wheel of the attitude control device 10 according to the first to fifth embodiments has various properties depending on the type. There are many possible options for what to use.

Therefore, it is preferable to select the type of the functional fluid 5 according to the application of the attitude control device 10 so that the performance of the attitude control device 10 can be maximized. When the functional fluid 5 is a fluid that has a large effect of increasing the viscosity with respect to the application of a voltage or a magnetic field, specifically, an MR fluid, a magnetic mixed fluid, or the like, an attitude control device 10 that generates a larger torque Can be realized.

Although the first to sixth embodiments have been described individually, the configuration examples disclosed in the first to sixth embodiments can be arbitrarily combined.

In the first to sixth embodiments, with respect to the shapes of the first stator 1 and the second stator 4 of the attitude control device 10, the first stator 1 has a spherical shell shape, and the second stator 4 has a second shell shape. The case where the shape of the outer peripheral surface of the stator 4 is spherical is illustrated, but the present invention is not limited to this. That is, the functionality filled in the gap between the first stator 1 and the second stator 4 according to the magnetic fields generated by the plurality of magnetic field generators provided on the surface of the first stator 1. The shapes of the first stator 1 and the second stator 4 are not particularly limited as long as the fluid 5 can flow.

DESCRIPTION OF SYMBOLS 1 1st stator, 2a-2j magnetic field generator, 3 support body, 4 2nd stator, 5 functional fluid, 6 center panel, 7 attitude control object, 8 voltage application circuit, 10 attitude control device.

Claims (6)

A posture control device for changing the posture of a posture control target in a three-dimensional space, comprising:
A hollow first stator,
A second stator provided inside the first stator and fixed to the first stator;
A functional fluid filled in a gap between the first stator and the second stator;
A plurality of magnetic field generators that are provided on the surface of the first stator, apply a magnetic field to the functional fluid, and cause the functional fluid to flow according to the applied magnetic field;
A voltage application circuit for applying a voltage between the first stator and the second stator;
Attitude control device. When the center of the first stator is the origin of the orthogonal coordinate system of the three-dimensional space and the orthogonal coordinate system is defined by X-axis, Y-axis and Z-axis that are orthogonal to each other,
The center of the first stator and the center of the second stator are aligned,
The plurality of magnetic field generators,
A pair of magnetic field generators provided on the X-axis so as to face each other via the first stator;
A pair of magnetic field generators provided on the Y-axis so as to face each other via the first stator;
The attitude control device according to claim 1, comprising a pair of magnetic field generators provided on the Z axis so as to face each other via the first stator. When the center of the first stator is the origin of the orthogonal coordinate system in the three-dimensional space,
The center of the first stator and the center of the second stator are aligned,
The plurality of magnetic field generators,
The attitude control device according to claim 1, wherein the attitude control device is configured by four magnetic field generators, one provided at each vertex of a regular tetrahedron having the origin as a center of gravity. The first stator has a spherical shell shape,
The attitude control device according to claim 1, wherein the outer peripheral surface of the second stator has a spherical shape. Said first stator and by covering the whole of the plurality of magnetic field generators, from claim 1, further comprising a cover for blocking the magnetic field in which the plurality of magnetic field generators to generate in any one of 4 The described attitude control device. The functional fluid, MR fluid, EMR fluid or attitude control device according to claim 1 which is a magnetic fluid mixture to any one of claims 5,.

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