RU160949U1 - DEVICE FOR STABILIZING THE POSITION OF A VOLUME BODY IN A SPACE WITH A POWER COMPENSATION OF DECLINING INFLUENCE - Google Patents

Abstract

1. A device for stabilizing the position of a volumetric body in space with power compensation of deflecting influences, including two flywheels with flywheel drives connected to a volumetric body, a control unit connected to position sensors, an electrical power source and flywheel drives, and the rotation axes of all flywheels intersect at one point, characterized in that the center of mass of one flywheel coincides with the center of mass of the second flywheel and is located inside the volumetric body, while the control unit is connected to the sensors global rotational speed of each flywheel. 2. The device according to claim 1, characterized in that an additional flywheel with its drive is located inside the volumetric body, and the rotation axes of all the flywheels intersect at one point. 3. The device according to claim 2, characterized in that the centers of mass of all the flywheels coincide. 4. The device according to claim 2, characterized in that the rotation axes of all the flywheels are orthogonal. The device according to claim 1, characterized in that each flywheel has a flywheel position sensor connected to the control unit. 6. The device according to claim 1, characterized in that each flywheel has a sensor of angular speed of rotation of the flywheel connected to the control unit. The device according to claim 1, characterized in that each flywheel drive has a flywheel position sensor connected to the control unit. The device according to claim 1, characterized in that each flywheel drive has a flywheel angular velocity sensor connected to the control unit.

Description

The technical field to which the utility model belongs.

The invention relates to devices for stabilizing the position of a three-dimensional body in space with power compensation of deflecting influences, including two flywheels with flywheel drives connected to a three-dimensional body, a control unit connected to position sensors, a power source, and flywheel drives, all of which are rotational axes flywheels intersect in one and can be used in robotics to stabilize walking robots, to stabilize aircraft, buildings during earthquakes and other m

The level of technology.

To maintain the same position in the space of the volumetric body, various devices can be used. A typical example of such a device is any gyro-stabilized platform. When a deflecting effect appears on it or a platform or volume body connected with it, the position of which needs to be stabilized, such a device creates a moment of forces aimed at counteracting the deflecting effect. The disadvantage of this solution is that any gyroscopic system, when compensating for the deflecting effect, has an undesirable precession, which must be compensated.

, Switzerland)Known from the prior art devices that stabilize the position in space of a three-dimensional body without the use of gyroscopes. It is well known from the prior art that a device for stabilizing the position of a volumetric body in space with power compensation of deflecting influences, including two flywheels with flywheel drives connected to a volumetric body, a control unit connected to position sensors, a power source and flywheel drives, with rotation axes all flywheels intersect at one point, see the article “The Cubli: A Reaction Wheel Based 3D Inverted Pendulum” (Kubli: Three-Dimensional Inverse Pendulum Based on Flywheels), published July 17-19, 2013, in Zuri ie, Switzerland, at the European Conference on Management (2013 European Control Conference (ECC), July 17-19, 2013

, Switzerland)

Internet Link:

http://www.idsc.ethz.ch/content/dam/ethz/special-interest/mavt/dynamic-systems-n-control/idsc-dam/Research_DAndrea/Cubli/Cubli_ECC2013.pdf

In the prior art, a cube called “Kubli” is described, which includes three flywheels arranged orthogonally to each other and located on three adjacent faces.

This device is the closest in technical essence to the claimed utility model and is taken as a prototype for the proposed utility model.

The disadvantage of this device is the lack of stability in three-dimensional space. Indeed, it makes it possible to stabilize a bulk body in an unstable equilibrium position, but can only compensate for small deflecting influences. With strong deflecting influences, the bulk body loses stability. Thus, such a solution can be used as a textbook, but it is impossible to put into practice for stabilization of walking robots, for stabilization of aircraft, buildings during earthquakes.

Disclosure of a utility model.

The present utility model, based on this original observation, mainly aims to propose a device for stabilizing the position of a volumetric body in space with power compensation of deflecting influences, including two flywheels with flywheel drives connected to a volumetric body, a control unit connected to position sensors , the power supply and the flywheel drives, and the axis of rotation of all the flywheels intersect at one point and allowing at least to smooth out the above disadvantage, and Menno provide increasing stability of the position volume in space, which is the technical problem of the present utility model.

To achieve this, the center of mass of one flywheel coincides with the center of mass of the second flywheel and is located inside the volumetric body, while the control unit is connected to the sensors of the angular velocity of rotation of each flywheel. Thanks to such an advantageous characteristic, it becomes possible to repeatedly increase the stabilization capabilities of a volumetric body, since the moment of inertia restoring equilibrium will come from one point.

An additional advantage of the presence of these signs is that it becomes possible to respond very quickly to deflecting influences.

There is a possible embodiment of a utility model in which an additional flywheel with its drive is located inside the volumetric body, and the rotation axes of all flywheels intersect at one point. Thanks to such an advantageous characteristic, it becomes possible to stabilize the position in space of a volumetric body in the presence of arbitrary deflecting influences and the absence of one of the two fulcrum. Indeed, if there is one fulcrum, balance can already be maintained with two orthogonal flywheels.

There is also such a possible embodiment of a utility model in which the centers of mass of all flywheels coincide. Thanks to this advantageous characteristic, it becomes possible to increase the device's ability to stabilize the volumetric body with three flywheels.

In addition, there is such a possible embodiment of a utility model in which the rotation axes of all the flywheels are orthogonal. Thanks to this advantageous characteristic, it becomes possible to use the most efficient layout of the flywheels when the moments of inertia of the flywheels are mutually perpendicular.

There is also an embodiment of the utility model in which each flywheel has a flywheel position sensor connected to the control unit. Thanks to this advantageous characteristic, it becomes possible to control the position of the flywheel and to monitor the influence of its position on the balance of the volumetric body.

In addition, there is a possible embodiment of the utility model in which each flywheel has a sensor of angular speed of rotation of the flywheel connected to the control unit. Thanks to this advantageous characteristic, it becomes possible to control the angular velocity of the flywheel and to monitor the effect of its magnitude on the equilibrium of the volumetric body.

There is a possible embodiment of a utility model in which each flywheel drive has a flywheel position sensor connected to a control unit. Thanks to this advantageous characteristic, an alternative to the aforementioned possibility arises of arranging the flywheel position sensor, not in the flywheel itself but in its drive.

There is a possible embodiment of a utility model in which each flywheel drive has a flywheel angular rotation speed sensor connected to a control unit. Due to this advantageous characteristic, an alternative to the aforementioned possibility arises of arranging the sensor of the angular speed of rotation of the flywheel, not in the flywheel itself but in its drive.

The set of essential features of the proposed utility model is unknown from the prior art for devices of similar purpose, which allows us to conclude that the criterion of "novelty" for the utility model is met.

A brief description of the drawings.

Other distinguishing features and advantages of the utility model clearly follow from the description below for illustration and not being restrictive, with reference to the accompanying drawings, in which:

- figure 1 depicts a functional diagram of a device for stabilizing the position of a volumetric body in space, according to a utility model.

- figure 2 depicts a schematic arrangement of the elements of the device in space, according to the utility model.

- figure 3 schematically depicts the stages of the operation of the device to stabilize the position of the volumetric body in space, according to the utility model.

According to figures 1-2, a device for stabilizing the position of a volumetric body in space with power compensation of deflecting influences includes two flywheels 11 and 12 with drives of flywheels 111 and 121 connected to a volumetric body, the casing of which is shown as 2, control unit 3 connected to position sensors 4, power supply 5 and the actuators of the flywheels 111 and 121. The axis of rotation of all the flywheels 11 and 12 intersect at one point, shown in figure 1 as O.

The center of mass of one flywheel 11 coincides with the center of mass of the second flywheel 12 and is located inside the volumetric body. An additional flywheel 13 with its drive 131 can be located inside the volumetric body, and the axis of rotation of all the flywheels intersect at one point.

The centers of mass of all flywheels 11, 12, 13 can coincide. The axis of rotation of all flywheels can be orthogonal. Such an option is shown in figure 2. Double arrows show the possible direction of rotation of the flywheels.

Each flywheel may have a flywheel position sensor and / or an angular rotation speed sensor connected to the control unit. Or, each flywheel drive has a flywheel position sensor and / or a flywheel angular rotation speed sensor connected to a control unit. The figures are not shown.

The flywheel drives 111, 121, 131 can be made in the form of electric motors, including having their own controllers and servos, shown as 112, 122, 132.

The device may have flywheel braking units that are connected to the control side. The figure 1 shows both 113, 123, 133. As such blocks for braking the flywheels, flywheel drives can be used, which both spin the flywheels and slow down their rotation.

The control unit may be connected via wireless technology to a remote computer for data transmission and exchange. The remote computer is designated as 6. The connection between the proposed device and the remote computer can be carried out through an integrated network. An integrated network includes various topologies, configurations, and layouts of interconnect components configured to interconnect corporate, global, and local area networks, and includes, without limitation, traditional wired, wireless, satellite, optical, and equivalent network technologies.

In the general case, the number of flywheels can be a large three, although theoretically three flywheels can compensate for any external influence in the direction. Each flywheel can be duplicated, which is especially important for increasing the response speed both to the appearance of a deflecting effect and to its abrupt cessation.

Implementation of a utility model.

A device for stabilizing the position of a volumetric body in space is used as follows. (A non-limiting example of a utility model is given).

Stage A1. Three flywheels are placed in mutually orthogonal planes according to FIG. 2.

Stage A2. With any external impact, it is recorded using sensors 4, which are used by two, located at a distance from each other. As such sensors are used, for example, MEMS accelerometers ST, which are capable of measuring acceleration and vibration simultaneously in three directions.

Stage A3. The readings of the sensors, corresponding to the presence of an external deflection, 4 are transmitted to the control unit 3, in which the data are recalculated to calculate the corresponding control signal, which is transmitted via servos 112, 122, 132 to the motors 111, 121, 131, which rotate the flywheels 11, 12 , 13.

Stage A4. The rotation of the flywheels 111, 121, 131 creates a total moment of inertia, which exactly compensates for the external deflecting effect on the device, so the whole device does not change its position in space.

Stage A5. When the external deflection disappears, the rotation of the flywheels 11, 12, 13 is immediately inhibited by electric motors 111, 121, 131 or specially arranged brakes 113, 123, 133.

The above embodiments of the utility model are exemplary and allow you to add new options or modify the described.

Industrial applicability.

A device for stabilizing the position of a volumetric body in space can be implemented by a specialist in practice and, when implemented, ensures the implementation of the declared purpose. The feasibility in practice follows from the fact that for each feature included in the utility model formula based on the description, the material equivalent is known, which allows us to conclude that the criterion of “industrial applicability” for the utility model and the criterion of “completeness of disclosure” for the utility model are met.

In accordance with the proposed utility model, the applicant made a prototype device for stabilizing the position of a volumetric body in space. Was used

- electric motor company MAXON motor EC-45 flat 70 W,

- controller of the company MAXON motor controller EPOS 50/5

- control unit based on the MCU STM32F4 Discovery chip,

- nine-channel inertial sensors IMU ADXL345

- servo drive SPRINGRC SR508h

Servo Type: Digital

Operating voltage: 6.8-12 V

Speed: 0.18 sec / 60 ° (6 V)

Force on the shaft: 6.1 kg / cm (6 V)

Speed: 0.16 sec / 60 ° (7.4 V)

Force on the shaft: 7.5 kg / cm (7.4 V)

Rotation Angle: 300 °

Can rotate 360 ° continuously

The control signals were transmitted digitally via a common CAN bus. (From the English. Controller Area Network - a network of controllers, an industrial network standard, focused primarily on combining various actuators and sensors into a single network. Transmission mode - serial, broadcast, packet).

With a flywheel mass of 11 = 0.286 Kg, a moment of inertia = 201.651 kg mm2, a flywheel of 12 = 0.325 Kg, a moment of inertia = 250.651 kg mm2 of a flywheel 13 = 0.412 Kg, a moment of inertia = 278.651 kg mm2, possible rotation speeds of up to 5000 rpm, and With angular accelerations up to 1000 r / s2, stabilization of a body weighing 4 kg was achieved (together with flywheels, batteries, control systems), with a distance from the fulcrum to the center of the flywheels = 400 mm with deflecting impulse effects up to 5 N * s. Also, when using the braking mechanism, the body rises from a horizontal position to a vertical one. Perhaps a short-term deviation of the body from the vertical by an angle of up to 40 degrees, lasting up to 1.5 s.

Pilot operation of the proposed device showed that:

With a total mass of the device of 4 kg, when a deflecting effect is applied in the form of a horizontally directed absolutely e-collision with an impulse transmission of up to 5 N * s, the device reacts by rotating the flywheel, creating a moment of force that compensates for the deflecting effect in 0.12 s

All this, ultimately, ensures the achievement of the technical result achieved - increasing the stability of the spatial position in space.

The advantage of using this device is also that:

- achievement of stability is achieved after only three oscillatory movements around the equilibrium point;

- the proposed solution allows to reduce the dimensions of such systems, since the flywheels can be placed in a compact form, nested one in the other.

The proposed device can be used as a device for stabilizing the position of a volumetric body in space with power compensation of deflecting influences and can be used:

- in robotics to stabilize walking and moving mechanisms, both as a whole and their components,

- to stabilize various vehicles, such as cars on bends, and floating vehicles that can withstand rolling on the waves,

- in construction to stabilize buildings prone to earthquakes,

- in the design of various aircraft, (a typical example is quadrocopters, which take pictures and which need stabilization in space), as well as for other aircraft.

Claims (8)

1. A device for stabilizing the position of a volumetric body in space with power compensation of deflecting influences, including two flywheels with flywheel drives connected to a volumetric body, a control unit connected to position sensors, an electrical power source and flywheel drives, and the rotation axes of all flywheels intersect at one point, characterized in that the center of mass of one flywheel coincides with the center of mass of the second flywheel and is located inside the volumetric body, while the control unit is connected to the sensors the global rotation speed of each flywheel. 2. The device according to claim 1, characterized in that an additional flywheel with its drive is located inside the volumetric body, and the rotation axes of all flywheels intersect at one point. 3. The device according to claim 2, characterized in that the centers of mass of all the flywheels coincide. 4. The device according to p. 2, characterized in that the axis of rotation of all the flywheels are orthogonal. 5. The device according to claim 1, characterized in that each flywheel has a flywheel position sensor connected to the control unit. 6. The device according to p. 1, characterized in that each flywheel has a sensor of angular velocity of rotation of the flywheel connected to the control unit. 7. The device according to claim 1, characterized in that each flywheel drive has a flywheel position sensor connected to the control unit. 8. The device according to p. 1, characterized in that each flywheel drive has a sensor of angular speed of rotation of the flywheel connected to the control unit.

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