KR20120032248A - Control moment gyroscope and method for controlling maximum allowable torque thereof - Google Patents

Control moment gyroscope and method for controlling maximum allowable torque thereof Download PDF

Info

Publication number
KR20120032248A
KR20120032248A KR1020100093798A KR20100093798A KR20120032248A KR 20120032248 A KR20120032248 A KR 20120032248A KR 1020100093798 A KR1020100093798 A KR 1020100093798A KR 20100093798 A KR20100093798 A KR 20100093798A KR 20120032248 A KR20120032248 A KR 20120032248A
Authority
KR
South Korea
Prior art keywords
gimbal
transmission
momentum wheel
control moment
motor
Prior art date
Application number
KR1020100093798A
Other languages
Korean (ko)
Inventor
이승우
Original Assignee
한국항공우주연구원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 한국항공우주연구원 filed Critical 한국항공우주연구원
Priority to KR1020100093798A priority Critical patent/KR20120032248A/en
Publication of KR20120032248A publication Critical patent/KR20120032248A/en

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/02—Rotary gyroscopes
    • G01C19/04—Details
    • G01C19/06—Rotors
    • G01C19/065—Means for measuring or controlling of rotors' angular velocity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/02—Rotary gyroscopes
    • G01C19/04—Details
    • G01C19/06—Rotors
    • G01C19/08—Rotors electrically driven
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/14—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of gyroscopes
    • G01P9/02—

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present invention provides a momentum wheel for providing an angular momentum vector by a rotational drive of a rotating plate installed therein, and the momentum wheel installed at a torque transmission object so that the momentum wheel can rotate about an axis perpendicular to the axis of rotation of the rotating plate. A gimbal frame supporting the gimbal frame and installed outside the gimbal frame to drive the momentum wheel to rotate, and installed between the momentum wheel and the gimbal motor to adjust the maximum gimbal rotational speed of the momentum wheel. Disclosed is a control moment gyroscope including a transmission for shifting a rotational speed of a motor at a plurality of speed ratios and a maximum allowable output torque adjustment method.

Description

CONTROL MOMENT GYROSCOPE AND METHOD FOR CONTROLLING MAXIMUM ALLOWABLE TORQUE THEREOF}

The present invention relates to a gyroscope for generating a drive torque by a moment in the biaxial direction and a method for adjusting the maximum allowable output torque thereof.

In general, a control moment gyroscope (CMG) is used to control attitudes of satellites and ships, and a driver capable of generating high output torque using gyroscopic torque generated by moments in two axes. Say.

Referring to FIG. 1, the principle of the control momentum gyroscope will be described. First, the rotary table 11 is rotated with respect to the first axis g by the gimbal motor 10, and further, the rotary table 11 is connected to the rotary table 11. By rotating the wheel 21 is rotated around the second axis (h) orthogonal to the first axis (g), the wheel 21 is driven by the spin motor (20). In this way, the gyroscopic torque T is generated by the momentum in the mutually orthogonal directions, that is, the first axis g direction and the second axis h direction. Control moment gyroscopes use these physical phenomena to produce higher output torques than reaction wheels typically used in satellites.

In general, a potentiometer, an encoder, or a resolver is used to measure the rotation speed and the rotation angle of the gimbal shaft, and based on this, the gimbal motor is controlled to control the rotation speed and the rotation angle of the gimbal shaft.

Types of control moment gyroscopes include the Constant Speed Single Gimbal CMG, Constant Speed Single Gimbal CMG, and the Constant Speed Single Gimbal Control Moment Gyro. Gimbal CMG), among which the fixed speed single axis gimbal control moment gyro (Constant Speed Single Gimbal CMG) rotates one gimbal shaft (12) while the speed of the wheel 21 is maintained (one variable). To adjust the output torque). When the speed of the wheel 21 is constant, the generated output torque is determined according to the magnitude of the angular velocity of the gimbal shaft 12. Since the motor used for the gimbal motor 10 is generally a low speed motor, the output torque is higher than that of the high speed motor, but the size and weight thereof are relatively large and heavy, and the maximum allowable speed of the gimbal motor 10 is determined. There is a problem that the maximum allowable output torque of the control moment gyroscope is limited.

The present invention has been made to solve the above problems, and the maximum allowable output torque by expanding or reducing the allowable width of the rotational speed of the gimbal shaft as needed using a relatively small, lightweight and inexpensive high-speed motor as compared to the low-speed motor It is to provide a control moment gyroscope that can maintain the precision of the output torque while adjusting.

In order to achieve the above object, the present invention provides a momentum wheel for providing an angular momentum vector by a rotational drive of a rotating plate installed therein, and the momentum wheel rotated about an axis perpendicular to the axis of rotation of the rotating plate. A gimbal frame for supporting the momentum wheel, a gimbal motor installed outside the gimbal frame to drive the momentum wheel to rotate, and installed between the momentum wheel and the gimbal motor, and the maximum gimbal rotation of the momentum wheel. Disclosed is a control moment gyroscope including a transmission configured to shift a rotational speed of the gimbal motor at a plurality of speed ratios to adjust a speed.

The gimbal frame is formed in the shape of a cylinder or a ring having an installation space of the momentum wheel therein, the transmission is installed on the outer surface of the gimbal frame, it may be connected to the gimbal shaft of the momentum wheel.

The momentum wheel may include a housing having a rotation space of the rotating plate therein, a housing in which the gimbal shaft extends, and a spin motor fixedly installed in the housing and driving rotation of the rotating plate.

The transmission may include at least one of a manual transmission, an automatic transmission, and a continuous transmission.

The transmission may have a form of a speed reducer for reducing the output speed of the gimbal motor.

The control moment gyroscope may further include a sensor for measuring a gimbal rotational speed of the momentum wheel, and a transmission controller for controlling a transmission ratio of the transmission based on a measurement result of the sensor and a set gimbal rotational speed.

On the other hand, the present invention comprises the steps of calculating the output torque required for the posture control of the torque transmission target, setting the gimbal rotational speed of the momentum wheel based on the output torque, and measure the rotational speed of the momentum wheel, Disclosed is a method of adjusting a maximum allowable output torque of a control moment gyroscope, the method including adjusting a shift ratio of the transmission based on the measurement result and the gimbal rotation speed of the momentum wheel.

According to the present invention having the above-described configuration, by installing a transmission (or a reducer) in a compact and lightweight high speed gimbal motor, it is possible to adjust (or decelerate) the maximum rotational speed of the gimbal shaft to an arbitrary speed, thereby allowing maximum output torque. Can be selected arbitrarily, which can extend the application range of the control moment gyroscope.

In addition, the present invention can increase the economic efficiency, efficiency by using a high-speed motor easy to manufacture as a gimbal motor.

In addition, the present invention not only can easily control the output torque capacity through the automatic control of the transmission, there is an advantage that the size of the minimum output torque can be adjusted.

1 is a conceptual diagram for explaining the principle of the control moment gyroscope.
2 is a perspective view of a control moment gyroscope in accordance with one embodiment of the present invention.
3 is a cross-sectional view of the control moment gyroscope shown in FIG.
4 is a conceptual diagram of a control moment gyroscope according to another embodiment of the present invention.

Hereinafter, a control moment gyroscope according to the present invention will be described in more detail with reference to the accompanying drawings.

2 is a perspective view of a control moment gyroscope according to an embodiment of the present invention, and FIG. 3 is a cross-sectional view of the control moment gyroscope shown in FIG. 2.

2 and 3, the control moment gyroscope according to the present invention includes a momentum wheel 110, a gimbal frame 120, a gimbal motor 140, and a transmission 150.

The momentum wheel 110 serves to provide an angular momentum vector by the rotational drive of the rotating plate 112 installed therein. The momentum wheel 110 may include a housing 111, or a frame, a rotating plate 112, a shaft 113, and a spin motor 114.

The housing 111 has a rotation space of the rotating plate 112 therein, and the gimbal shaft 130 is extended to the outside of the housing 111.

The rotating plate 112 is fixed to the shaft 113, and the shaft 113 is rotatably coupled to the support structures 115 and 116 inside the housing 111. A bearing may be installed between the shaft 113 and the support structure. Here, the shaft 113 is disposed in a direction perpendicular to the gimbal shaft 130.

The spin motor 114 is used to rotate the rotating plate 112 and is fixedly installed in the housing 111. The spin motor 114 is connected to the shaft 113 to drive the shaft 113 to rotate.

Gimbal frame 120 is installed on the power transmission target, and serves to transfer the gyroscope moment generated from the gyroscope to the power transmission target. The gimbal frame 120 supports the momentum wheel so that the momentum wheel 110 can rotate about an axis perpendicular to the axis of rotation of the rotating plate 112. The gimbal frame 120 may be formed in a cylinder or ring shape having an installation space of the momentum wheel 110 therein, the gimbal shaft 130 of the housing 111 is rotatably connected to the gimbal frame 120. . According to the present embodiment, the gimbal shaft 130 has a structure penetrating from the inner surface of the gimbal frame 120 to the outer surface.

Gimbal motor 140 is the gimbal motor 140 is installed on the outside of the gimbal frame 120, and serves to drive the momentum wheel 110 to rotate.

The transmission 150 is installed between the momentum wheel 110 and the gimbal motor 140, and serves to shift the rotational speed of the gimbal motor 140 at a plurality of transmission ratios. The transmission 150 is connected to the output shaft of the gimbal motor 140, one end of the gimbal shaft 130 is connected to the transmission 150. As the transmission 150, various types of transmissions such as a manual transmission, an automatic transmission, and a continuously variable transmission may be used.

This embodiment illustrates a structure in which the gimbal motor 140 and the transmission 150 are connected as a separate configuration, and may be implemented in a modular structure in which the gimbal motor 140 and the transmission 150 are integrated.

 The other end of the gimbal shaft 130 is connected to the sensor 160 for measuring the rotational speed, the rotation angle of the momentum wheel 110. The sensor 160 is installed on the outside of the gimbal frame, that is, on the opposite side of the gimbal motor 140 and the transmission 150. As the sensor 160, a potentiometer, encoder, resolver, or the like may be used.

The rotation plate 112 of the momentum wheel 110 is rotated according to the driving of the spin motor 114, and the momentum wheel 110 is perpendicular to the shaft 113 of the rotation plate 112 according to the drive of the gimbal motor 140. One axis is rotated about the gimbal axis 130, thereby generating a gyroscope moment. The gyroscope moment is transmitted to the torque transmission object through the gimbal frame 120.

The sensor 160 and the gimbal motor 140 are connected to the main controller of the torque transmission target (artificial satellite, ship, etc.). The main controller calculates the output torque required for the posture control and controls the rotation speed and the rotation angle of the gimbal motor 140 for the required torque output based on the measurement result of the sensor 160.

According to the present invention, the maximum rotation speed of the gimbal shaft 130, that is, the momentum wheel 110 may be adjusted by adjusting the speed ratio of the transmission 150. Since the output torque is determined according to the rotation speed of the gimbal shaft 130 when the speed of the rotating plate 112 is constant, the maximum allowable output torque of the control moment gyroscope is adjusted by adjusting the maximum rotation speed of the gimbal shaft 130. Can be.

For example, when a high speed motor is used as the gimbal motor 140 and a speed reducer is used as the transmission 150, the maximum rotational speed of the gimbal shaft 130 is adjusted by adjusting the deceleration ratio (single) of the transmission 150. Can be. Here, the number of stages of the transmission 150 can be adjusted directly by the user, it is also possible to be made automatically. In the following embodiment, a configuration for automatically adjusting the number of stages of the transmission 150 will be described.

4 is a conceptual diagram of a control moment gyroscope according to another embodiment of the present invention.

According to the present embodiment, the transmission control unit 170 is further connected to the sensor 160 and the transmission 150. The maximum allowable output torque adjustment method of the control moment gyroscope using the configuration of the present embodiment is to calculate the output torque required for posture control of the torque transmission target, and to be applied to the momentum wheel 110 based on the calculated output torque. Setting the gimbal rotational speed, and measuring the current gimbal rotational speed of the momentum wheel 110, and determining a transmission ratio of the transmission 150 based on the measurement result and the gimbal rotational speed to be applied to the momentum wheel 110. Adjusting.

The main controller of the torque transmission target (artificial satellite, ship, etc.) calculates the output torque necessary for attitude control, and can calculate the gimbal rotation speed to be applied to the gimbal shaft 130 based on the calculated output torque.

The transmission controller 170 receives the gimbal rotational speed from the main controller, and receives the current gimbal rotational speed of the momentum wheel 110 from the sensor 160. The transmission control unit 170 may determine the current transmission ratio of the transmission 150 based on the authorized information and information on the memory or the internally-mounted transmission ratio (for example, the number of gears applicable in a specific gimbal rotation speed range). Determine whether it is suitable for the gimbal rotation speed to be authorized. The transmission control unit 170 applies a signal to the transmission 150 to control the transmission ratio of the transmission 150 according to the determination result. The transmission 150 is controlled by the transmission ratio (single stage) under the control of the transmission control unit 150. The sensor 160 continuously applies the current gimbal rotational speed of the momentum wheel 110 to allow feedback control.

In the present exemplary embodiment, the transmission control unit 170 and the main controller are illustrated as having a separate configuration, but these may also be implemented in an integrated configuration.

In the above, the control moment gyroscope according to the present invention and a method of adjusting the maximum allowable output torque have been described with reference to the accompanying drawings. 도면 The present invention is not limited to the embodiments and drawings disclosed herein, and the present invention. Various modifications can be made by those skilled in the art within the scope of the technical idea.

Claims (7)

A momentum wheel for providing an angular momentum vector by a rotational drive of a rotating plate installed therein;
A gimbal frame installed at a torque transmission object and supporting the momentum wheel to rotate the momentum wheel about an axis perpendicular to the axis of rotation of the rotating plate;
A gimbal motor installed at an outer side of the gimbal frame and driving the momentum wheel to rotate; And
The control moment gyroscope is installed between the momentum wheel and the gimbal motor, and includes a transmission for shifting the rotational speed of the gimbal motor to a plurality of speed ratios so as to adjust the maximum gimbal rotational speed of the momentum wheel. The method of claim 1,
The gimbal frame is formed in a cylinder or ring shape having an installation space of the momentum wheel therein,
The transmission is installed on the outer surface of the gimbal frame, the control moment gyroscope, characterized in that connected to the gimbal shaft of the momentum wheel. The method of claim 2, wherein the momentum wheel,
A housing having a rotation space of the rotating plate therein and having the gimbal shaft extending therefrom; And
The control moment gyroscope fixed to the inside of the housing, comprising a spin motor for driving the rotation of the rotating plate. The method of claim 1, wherein the transmission,
A control moment gyroscope comprising at least one of a manual transmission, an automatic transmission, and a continuous transmission. The method of claim 1, wherein the transmission,
Control moment gyroscope, characterized in that the speed reducer to reduce the output speed of the gimbal motor. The method of claim 1,
A sensor installed outside the gimbal frame and measuring a gimbal rotational speed of the momentum wheel; And
And a transmission control unit for controlling a transmission ratio of the transmission based on a measurement result of the sensor and a set gimbal rotation speed. In the method of adjusting the maximum allowable output torque of the control moment gyroscope according to claim 1,
Calculating an output torque required for posture control of the torque transmission target;
Setting a gimbal rotational speed of the momentum wheel based on the output torque; And
Measuring a rotational speed of the momentum wheel, and adjusting a shift ratio of the transmission based on the measurement result and the gimbal rotational speed of the momentum wheel; and adjusting the maximum allowable output torque of the control moment gyroscope. Way.
KR1020100093798A 2010-09-28 2010-09-28 Control moment gyroscope and method for controlling maximum allowable torque thereof KR20120032248A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020100093798A KR20120032248A (en) 2010-09-28 2010-09-28 Control moment gyroscope and method for controlling maximum allowable torque thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020100093798A KR20120032248A (en) 2010-09-28 2010-09-28 Control moment gyroscope and method for controlling maximum allowable torque thereof

Publications (1)

Publication Number Publication Date
KR20120032248A true KR20120032248A (en) 2012-04-05

Family

ID=46135408

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020100093798A KR20120032248A (en) 2010-09-28 2010-09-28 Control moment gyroscope and method for controlling maximum allowable torque thereof

Country Status (1)

Country Link
KR (1) KR20120032248A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014102770A1 (en) * 2012-12-26 2014-07-03 Israel Aerospace Industries Ltd Device, system and method for attitude control
US10202208B1 (en) 2014-01-24 2019-02-12 Arrowhead Center, Inc. High control authority variable speed control moment gyroscopes

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014102770A1 (en) * 2012-12-26 2014-07-03 Israel Aerospace Industries Ltd Device, system and method for attitude control
US9850009B2 (en) 2012-12-26 2017-12-26 Israel Aerospace Industries Ltd. Device, system and method for attitude control
US10202208B1 (en) 2014-01-24 2019-02-12 Arrowhead Center, Inc. High control authority variable speed control moment gyroscopes

Similar Documents

Publication Publication Date Title
US7661627B2 (en) Method of controlling the attitude of satellites, particularly agile satellites with a reduced number of gyrodynes
EP3653489B1 (en) Methods and systems for controlling low-speed propulsion of a marine vessel
CN106068440B (en) Gesture stability for quick satellite application
US5396815A (en) Suspension system for gimbal supported scanning payloads
Bernstein et al. Development of air spindle and triaxial air bearing testbeds for spacecraft dynamics and control experiments
WO2010057129A1 (en) Angular momentum torque enhancement for spherical vehicles
IL106926A (en) Planetary inertial power source and a method of extracting energy therefrom
CN103332301B (en) Topping up inertia variable fly wheel is utilized to control method and the actuating unit thereof of spacecraft attitude
US20230030018A1 (en) Marine vessel with gyroscope-assisted joystick maneuvering
US6354163B1 (en) Mitigating gimbal induced disturbances in CMG arrays
KR20120032248A (en) Control moment gyroscope and method for controlling maximum allowable torque thereof
US8161832B2 (en) Method of keeping given direction and device for its implementation
JP6867634B1 (en) Attitude control device and attitude control method
US9180983B2 (en) Actuator with transfer of angular momentum for the attitude control of a spacecraft
KR101065808B1 (en) Mobile Two-wheeled Inverted Pendulum System Having Multiple Sensors
US4976163A (en) Reactionless actuator-gimbal system
JP2009190506A (en) Posture control device for artificial satellite and posture control method of artificial satellite
CN109540171B (en) Portable autonomous positioning and directional servo system
JP2005080902A (en) Method and apparatus for controlling posture of driving body and traveling vehicle
US12060140B2 (en) Marine vessel with gyroscope-optimized station keeping
KR20120076895A (en) Variable speed gimbal control moment gyro
KR101954175B1 (en) Power system of leisure boat using a gyroscope
JPH0731236B2 (en) Antenna pointing device
CN110641737B (en) X-configuration energy storage type variable-speed control moment gyro mechanism and control method thereof
EP1590243A1 (en) Device for controlling the attitude of a satellite by means of gyroscopic actuators

Legal Events

Date Code Title Description
A201 Request for examination
E601 Decision to refuse application