JPH0552568A - Control moment gyroscope - Google Patents

Abstract

PURPOSE:To miniaturize and simplify the apparatus by making a magnetism generated with an electromagnet act on a plurality of magnetic pole elements provided on an outer surface of a spherical rotor to apply a rotating force to the spherical rotor. CONSTITUTION:A controller 12 inputs an external or internal command signal while current is supplied to respective electromagnets 9 of a spherical stator 8 to generate an electromagnetic force inputting a position signal of a spherical rotor 6 from a position detector/speed detector 10. The electromagnetic force generated work on an magnetic pole element 7 of the stator 8 as flywheel so that the spherical rotor 6 is rotated at a fixed speed about an axis psi to generate an angular momentum H about the axis psi and it is rotated about an axis theta at a certain speed to generate a rotational speed vector W about the axis theta. As a result, a torque given by T=HXW is generated about the axis psi is utilized to perform a attitude control in an arbitrary space. This enables a multiple freedom motor to be used in common as a spin motor for rotating the flywheel and a gimbal drive motor thereby achieving miniaturization and simplification of the apparatus.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control moment gyro (hereinafter referred to as CMG) using a multi-degree-of-freedom motor.

[0002]

2. Description of the Related Art In a conventional CMG, a spin motor 01 to which a controller 13 is connected as shown in FIG.
A flywheel 02 that rotates at high speed around the axis is supported by a gimbal 03, and this gimbal 03 is rotated around the θ axis by a gimbal driving motor 04 to which the controller 13 is connected, and a torque around the φ axis is obtained by the gyro effect. By arranging a plurality of these, the posture control of an arbitrary space is performed.

The operation of the above-mentioned conventional CMG is as follows. That is, the spin motor 01 causes the flywheel 0
2 is rotated around the ψ-axis at a constant speed to generate an angular momentum H about the ψ-axis. Further, the gimbal 03 is rotated at a certain speed around the θ axis to generate a rotation speed vector ω around the θ axis. As a result, due to the gyro effect, φ
Since torque T = H × ω is generated around the axis, the CMG uses this torque to control the attitude in an arbitrary space.

The controller 13 controls the rotations of the spin motor 01 and the gimbal driving motor 04 on the basis of an external command, and 05 is a bearing that is a flywheel 02.
Alternatively, it supports the rotating shaft of the gimbal 03.

[0005]

The conventional CMG has the following problems because the spin motor for rotating the flywheel and the motor for driving the gimbal are separate components. (1) The arrangement and structure of the components become complicated. (2) A controller corresponding to the number of electric motors (two) is required. (3) Therefore, it is difficult to reduce the size, increase the reliability, and simplify the CMG.

The present invention is intended to solve the above problems.

[0007]

In the control moment gyro of the present invention, a plurality of magnetic pole elements each having a magnetic pole adjacent to each other and having different polarities are arranged on the outer surface in a lattice shape to form a flywheel. Spherical rotor,
A spherical stator having a plurality of electromagnets provided along the outer surface of the spherical rotor and facing the magnetic pole elements and forming a gimbal on the inner surface side thereof, and a static stator formed between the spherical stator and the spherical rotor. It is characterized by comprising a pressure bearing and a controller to which the electromagnet of the spherical stator is connected.

[0008]

In the above, when the controller inputs a command signal, it supplies a current to each electromagnet of the spherical stator to generate an electromagnetic force, which acts on the magnetic pole element of the spherical rotor.

When the electromagnetic force acts on the magnetic pole elements, the spherical rotor is rotated as a flywheel around the first axis at a constant speed to generate an angular momentum H about the first axis, and the first axis is also rotated. A rotation speed vector ω about the second axis is generated by rotating the rotation axis at a speed around a second axis orthogonal to the rotation axis. As a result, due to the gyro effect, torque T = H × ω is generated around the third axis orthogonal to the first and second axes.

As described above, since the spin motor for rotating the flywheel and the motor for gimbal driving can be shared by the multi-degree-of-freedom motor, compared with the conventional CMG,
The device can be downsized, highly reliable, and simplified.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A CMG according to an embodiment of the present invention is shown in FIGS. In FIG. 1, a spherical rotor 6 also serves as a flywheel. As shown in FIG. 2, this spherical rotor 6 has a hollow spherical shape, and on its outer surface, as shown in FIG. 3, magnetic pole elements 7 made of permanent magnets or electromagnets are arranged in a grid pattern and are adjacent to each other. The magnetic poles of the magnetic pole element 7 are arranged so that their polarities are different. However, as shown in FIG. 4, the pole portions of the spherical rotor 6 that cannot be arranged such that the magnetic pole elements 7 adjacent to each other have different magnetisms are excluded.

Reference numeral 8 is a spherical stator provided outside the spherical rotor 6 and also serves as a gimbal. On the inner surface of the spherical stator 8 facing the outer surface of the spherical rotor 6, electromagnets 9 are arranged in a grid and spherical shape as shown in FIG.

A position detector / angular velocity detector 10 for detecting the position (ψ, θ position) of the spherical rotor 6 is mounted on the spherical stator 8. Reference numeral 11 is a rotary guide that limits the rotation direction of the spherical rotor to the ψ and θ axes, and is fixed to the spherical stator and gimbal 8.

A controller 12 energizes the electromagnet 9 based on an external or internal command signal and a feedback signal from the position detector / angular velocity detector 10 so that the spherical rotor 6 reaches a predetermined position or velocity. Control.

Further, a hydrostatic bearing is formed between the spherical rotor 6 and the spherical stator 8 to allow the spherical rotor 6 to rotate freely.

In the above description, the controller 12 inputs an external or internal command signal, and inputs the spherical rotor position (ψ, θ position) signals from the position detector / speed detector 10 to each of the spherical stators 8. A current is supplied to the electromagnet 9 to generate an electromagnetic force.

The electromagnetic force generated by each of the electromagnets 9 acts on the magnetic pole element 7 of the spherical rotor 8 and the spherical rotor 6
Is used as a flywheel to rotate around the ψ-axis at a constant speed to generate an angular momentum H around the ψ-axis, and to rotate at a speed around the θ-axis to generate a rotation speed vector ω around the θ-axis.

As a result, a torque of T = H × ω is generated around the φ axis due to the gyro effect, and the control moment gyro of this embodiment uses this torque to control the attitude in an arbitrary space.

As described above, since the spin motor for flywheel rotation and the motor for gimbal drive can be commonly used in the multi-degree-of-freedom motor, it is possible to reduce the size, increase the reliability, and simplify the conventional CMG. became.

[0020]

In the control moment gyro of the present invention, a plurality of electromagnets are arranged on the inner surface side of the spherical stator to supply a current from the controller, and the electromagnetic force generated by the electromagnets is applied to the outer surface of the spherical rotor. A multi-degree-of-freedom motor is formed by acting on a plurality of magnetic pole elements provided to give a rotational force to the spherical rotor, and this multi-degree-of-freedom motor is used for spin motor and gimbal drive for flywheel rotation. Since the motor can be shared, the conventional CM
Compared with G, the device can be downsized, highly reliable, and simplified.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a CMG according to an embodiment of the present invention.

FIG. 2 is a sectional view of a spherical rotor according to the above embodiment.

FIG. 3 is a layout view of magnetic pole elements of the spherical rotor according to the embodiment.

FIG. 4 is an explanatory view of a state of a pole portion of the spherical rotor according to the above embodiment.

FIG. 5 is an explanatory diagram of a spherical stator according to the above embodiment.

FIG. 6 is an explanatory diagram of a conventional device.

[Explanation of symbols]

 6 spherical rotor 7 magnetic pole element 8 spherical stator 9 electromagnet 10 position detector and angular velocity detector 11 rotary guide 12 controller

Claims (1)

[Claims] 1. A spherical spherical rotor having a spherical shape in which a plurality of magnetic pole elements adjacent to each other and having different polarities are arranged in a grid pattern on the outer surface of the rotor to form a flywheel, and along the outer surface of the spherical rotor. A spherical stator having a plurality of electromagnets provided on its inner surface side and facing the magnetic pole element and forming a gimbal, a static pressure bearing formed between the spherical stator and the spherical rotor, and an electromagnet of the spherical stator. A control moment gyro, which is equipped with a controller connected to.