WO2016169363A1 - 一种磁悬浮动量球 - Google Patents

一种磁悬浮动量球 Download PDF

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Publication number
WO2016169363A1
WO2016169363A1 PCT/CN2016/076396 CN2016076396W WO2016169363A1 WO 2016169363 A1 WO2016169363 A1 WO 2016169363A1 CN 2016076396 W CN2016076396 W CN 2016076396W WO 2016169363 A1 WO2016169363 A1 WO 2016169363A1
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Prior art keywords
stator
mover
magnetic levitation
momentum
stators
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Ceased
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PCT/CN2016/076396
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English (en)
French (fr)
Inventor
张鸣
朱煜
陈安林
杨开明
成荣
刘峰
胡金春
胡楚雄
徐登峰
穆海华
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Tsinghua University
Beijing U Precision Tech Co Ltd
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Tsinghua University
Beijing U Precision Tech Co Ltd
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Priority to US15/568,581 priority Critical patent/US10532832B2/en
Publication of WO2016169363A1 publication Critical patent/WO2016169363A1/zh
Anticipated expiration legal-status Critical
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
    • B64G1/283—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using reaction wheels
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K16/00—Machines with more than one rotor or stator
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
    • H02K2201/03—Machines characterised by aspects of the air-gap between rotor and stator

Definitions

  • the invention relates to the field of aerospace technology, in particular to a magnetic levitation momentum ball for attitude adjustment of a spacecraft.
  • In-orbit spacecraft usually have the requirement of stable attitude due to the multiple disturbances of space.
  • some types of satellites such as surveillance satellites, there is also a need for high-precision attitude adjustment. Therefore, the driving device for attitude stabilization and precise adjustment of spacecraft is an important part in the development of spacecraft.
  • the momentum wheel adopting the principle of conservation of momentum moment is the most commonly used driving component for attitude adjustment.
  • the existing mature technology is the mechanical ball bearing momentum wheel.
  • the new generation magnetic suspension momentum wheel overcomes some shortcomings of the mechanical ball bearing momentum wheel, There are still some problems inherent in the momentum wheel, such as large volume and mass, high cost, and mutual coupling between multiple momentum wheels.
  • the magnetic levitation momentum ball can solve the above problems of the momentum wheel.
  • the existing magnetic levitation momentum ball technology is mostly a permanent magnet synchronous magnetic levitation momentum ball, which is complicated to manufacture and expensive, and is not conducive to miniaturization and low cost, and limits its application.
  • Most of the existing inductive magnetic levitation momentum balls can not realize the suspension drive integration, which is not conducive to the attitude control of the spacecraft; and the suspension is mostly realized by suction and floating, which is not an inherently stable suspension system, and the suspension control is complicated.
  • An object of the present invention is to provide a magnetic levitation momentum ball which is compact, low cost, integrated with suspension and rotary drive, and achieves inherently stable suspension.
  • a magnetic levitation momentum ball comprising a mover and a stator;
  • the stator comprises three groups, each set comprising two stators with a spherical center of the mover as a center of symmetry, the axes of the three sets of stators being orthogonal to each other
  • Each stator comprises a stator core and a coil array; the inner surface of the stator core and the mover is spherical, and an air gap is left on the outer surface of the mover, and the stator core is provided with a through slot in the radial direction.
  • the through slots are evenly distributed on the circumference of the stator core; the coil array adopts a disc motor stator winding, and two effective sides of each coil in the coil array are respectively placed in two through slots of the stator core;
  • the number of coils of the stator is half of the number of slots or equal to the number of slots;
  • the mover is in the shape of a spherical shell, and the material is a conductive metal material.
  • the mover is a combination of two hemispherical shells.
  • the through groove adopts a flat type through groove or a curved surface type through groove.
  • An inner spherical shell made of a magnetically permeable material is embedded in the mover, and an outer surface of the inner spherical shell cooperates with an inner surface of the mover.
  • the magnetic suspension momentum ball is used for satellite attitude adjustment in the invention, which perfectly solves the large volume and mass of the traditional momentum wheel, high cost and multi-momentum.
  • the drive is integrated, the structure is simple and compact, the volume is small and the quality is light, and it belongs to the inherent stable suspension, and the suspension control is simple.
  • FIG. 1 is a schematic view of an embodiment of a magnetic levitation momentum sphere provided by the present invention.
  • Fig. 2 is a schematic view showing the structure of the stator in the embodiment.
  • 3a and 3b are schematic views showing the shape of a through groove in the embodiment.
  • Fig. 4 is a schematic view showing the structure of a coil in the embodiment.
  • Figure 5 is a schematic view showing the structure of a mover in the embodiment.
  • FIG. 1 is a schematic view of an embodiment of a magnetic levitation momentum sphere provided by the present invention, comprising a mover 4 and six stators 1, and an air gap 5 is formed between each stator 1 and the mover 4.
  • the mover 4 is in the shape of a spherical shell, and the six stators 1 are divided into three groups, numbered A, B, and C, and each group includes two stators with the center of the center of the mover 4 as a center of symmetry, and three sets of stators.
  • the axes are orthogonal to each other; each stator 1 includes a stator core 2 and a coil array 3.
  • FIG. 2 is a schematic view showing the structure of the stator in the embodiment.
  • the upper surface of the stator core 2 is a spherical surface, and a through groove 6 is formed in the circumference.
  • the through groove 6 is uniformly distributed on the circumference of the stator core 2, and the through groove adopts a planar through groove 11 Or the curved surface through groove 12, as shown in Figs. 3a and 3b, the flat type through groove is as shown in Fig. 3a, and the upper surface 10 of the through groove is a flat surface, such a through groove is convenient for processing, and the curved surface type through groove is as shown in Fig. 3a.
  • the surface 10 of the upper portion of the channel is a curved surface, and such a groove is more advantageous for the distribution of the magnetic field.
  • the number of the through slots 6 is determined according to the number of through slots commonly used in the stator core of a conventional disk motor. In this embodiment, there are a total of 24 through slots.
  • the coil array 3 adopts a disc-type motor winding. When a double-layer winding is used, the number of the coils 7 and the number of the through-grooves 6 are equal.
  • each coil 7 includes two effective sides 8, and the shape of the effective side 8 depends on the shape of the through-groove, two The effective sides 8 are respectively placed in two through grooves, and the two through grooves are separated by four through grooves.
  • the two effective sides 8 are high and low in the direction of the stator axis, and the effective side with the high position is placed on one of the through grooves. In the half part, the straight side with a low position is placed in the lower half of the other through groove, and the adjacent two coils are separated by a through groove.
  • the material of the mover 4 is a conductive material such as aluminum or copper.
  • the mover 4 is formed by combining two hemispherical shells 9.
  • An inner spherical shell made of a magnetically permeable material such as iron may be embedded in the mover 4, and the outer surface of the inner spherical shell cooperates with the inner surface of the mover.
  • the alternating currents in adjacent coils 7 in the coil array 3 of each stator 1 differ by the same electrical angle to form a rotation magnetic field.
  • the electrical angle of the phase difference is ⁇ /3
  • the alternating current in the coil array 3 forms a magnetic field rotating in the air gap 5 about the stator axis, and the rotating magnetic field induces a eddy current in the mover 4, and the eddy current is in the magnetic field. Forced, the mover 4 is provided with a levitation force along the stator axis and a torque about the stator axis.
  • each stator 1 When alternating current flows into the coil array 3 of two or more stators 1, each stator 1 is a mover 4 that provides a levitation force along the stator axis and a torque about the stator axis; each stator 1 The generated levitation force is synthesized into the levitation force of the mover 4, and the stable suspension of the mover 4 is controlled. The torque generated by each stator 1 is synthesized into the torque received by the mover, and the drive mover 4 is rotated along any axis.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Power Engineering (AREA)
  • Linear Motors (AREA)
  • Magnetic Bearings And Hydrostatic Bearings (AREA)

Abstract

一种磁悬浮动量球，用于航天器姿态调整，磁悬浮动量球包含一个球壳形动子（4）和多个定子（1），所述定子（1）有三组，每组包含两个以动子（4）的球心为对称中心的定子（1），三组定子（1）的轴线相互正交，每个定子（1）包含定子铁芯（2）和线圈阵列（3），定子铁芯（2）与动子（4）相配合的内表面为球面，并和动子（4）的外表面留有气隙，定子铁芯（2）沿径向开有通槽（6），通槽（6）在定子铁芯（2）的圆周上均匀分布；线圈阵列（3）采用盘式电机定子绕组，线圈阵列（3）中每个线圈（7）的两个有效边（8）分别放置于定子铁芯（2）的两个通槽（6）内。磁悬浮动量球成本低，悬浮、旋转驱动一体化，结构简单紧凑，体积小质量轻，并且属于固有的稳定悬浮，悬浮控制简单。

Description

一种磁悬浮动量球 技术领域
本发明涉及航空航天技术领域,尤其涉及一种用于航天器姿态调整的磁悬浮动量球。
背景技术
由于受到空间多种扰动力的作用，在轨航天器通常具有姿态稳定的需求；对于一些侦查卫星等类型的卫星，还具有高精度姿态调整需求。因此用于航天器姿态稳定与精确调整的驱动装置是航天器研制中的重要一环。
采用动量矩守恒原理的动量轮是目前最常用的一种姿态调整的驱动部件，现有成熟技术为机械滚珠轴承动量轮，新一代磁悬浮动量轮虽然克服了机械滚珠轴承动量轮的一些不足，但是仍具有动量轮所固有的一些问题，如体积和质量大，成本高，多动量轮之间相互耦合等。
进入21世纪，重量轻、体积小、成本低的小卫星技术引起世界各国的重视。从缩小卫星体积、提高卫星有效载荷、降低成本的角度，现有动量轮的缺点在一定程度上阻碍了卫星的小型化和低成本化。
磁悬浮动量球可以解决上述动量轮存在的问题，现有磁悬浮动量球技术多为永磁同步磁悬浮动量球，制造复杂，成本昂贵，不利于小型化和低成本化，限制了其应用。现有的感应式磁悬浮动量球大多不能实现悬浮驱动一体，不利于航天器的姿态控制；并且其悬浮多采用吸浮实现，不是固有稳定的悬浮系统，悬浮控制复杂。
发明内容
本发明的目的在于提供一种磁悬浮动量球，实现小型化，低成本化和悬浮、旋转驱动一体，并且实现固有稳定的悬浮。
本发明的技术方案如下：
一种磁悬浮动量球，所述磁悬浮动量球包含一个动子和定子；所述定子包括三组，每组包含两个以动子的球心为对称中心的定子，三组定子的轴线相互正交，每个定子包含定子铁芯和线圈阵列；所述定子铁芯与动子相配合的内表面为球面，并与动子的外表面留有气隙，定子铁芯沿径向开有通槽，通槽在定子铁芯的圆周上均匀分布；所述线圈阵列采用盘式电机定子绕组，线圈阵列中每个线圈的两个有效边分别放置于定子铁芯的两个通槽内；每个定子的线圈数量是通槽数量的一半或与通槽数量相等；所述动子为球壳形，材料为导电金属材料。
动子采用两个半球壳组合而成。通槽采用平面型通槽或弧面型通槽。在动子内嵌入由导磁材料制成的内球壳，内球壳的外表面与动子的内表面相配合。
本发明与现有技术方案相比，具有以下优点及突出性的技术效果：本发明中采用磁悬浮动量球进行卫星姿态调整，完美解决了传统动量轮存在的体积和质量大，成本高，多动量轮之间相互耦合等问题；本发明中磁悬浮动量球采用感应式悬浮和驱动，成本低，悬浮、旋转 驱动一体化，结构简单紧凑，体积小质量轻，并且属于固有的稳定悬浮，悬浮控制简单。
附图说明
图1是本发明提供的磁悬浮动量球实施例示意图。
图2是实施例中定子结构示意图。
图3a、图3b是实施例中通槽形状示意图。
图4是实施例中线圈结构示意图。
图5是实施例中动子结构示意图。
图中：1-定子，2-定子铁芯，3-线圈阵列，4-动子，5-气隙，6-通槽，7-线圈，8-有效边，9-动子半球壳，10-通槽上部的面，11-平面型通槽，12-弧面型通槽。
具体实施方式
下面结合附图对本发明实施方式作进一步详细描述。
图1是本发明提供的磁悬浮动量球实施例示意图，包含一个动子4和六个定子1，各定子1和动子4之间形成气隙5。动子4为球壳形，所述六个定子1分为三组，分别编号为A,B,C，每组包含两个以动子4的球心为对称中心的定子，三组定子的轴线相互正交；每个定子1包含定子铁芯2和线圈阵列3。
图2是实施例中定子结构示意图，定子铁芯2上表面是球面，在圆周上开有通槽6，通槽6在定子铁芯2的圆周上均匀分布，通槽采用平面型通槽11或弧面型通槽12，如图3a和3b所示，平面型通槽如图3a所示，通槽上部的面10为平面，这类通槽方便加工，弧面型的通槽如图3b所示，通槽上部的面10为弧面，这类通槽更有利于磁场的分布。通槽6的数量根据普通盘式电机定子铁芯常用的通槽数量来确定，本实施例中共24个通槽。线圈阵列3采用盘式电机绕组，采用双层绕组时，线圈7的数量和通槽6的数量相等，采用单层绕组时，线圈7的数量是通槽6的数量的一半，本实施例中采用单层绕组，共12个线圈7，线圈在圆周上均匀排列，如图4所示，每个线圈7包含两条有效边8，有效边8的形状根据通槽的形状而定，两个有效边8分别放在两个通槽内，两通槽中间相隔4个通槽，两条有效边8在定子轴线方向上一高一低，位置高的有效边放置于其中一个通槽的上半部分，位置低的直边放置于另一通槽的下半部分，相邻两个线圈之间相隔一个通槽。
图5是实施例中动子结构示意图，动子4的材料为铝、铜等导电材料，为方便制造，动子4采用两个半球壳9组合而成。可在动子4内嵌入由铁等导磁材料制成的内球壳，内球壳的外表面与动子的内表面相配合。
每个定子1的线圈阵列3中相邻两个线圈7中的交电流相差相同的电角度，以形成旋转 磁场。本实施例中相差的电角度为π/3，线圈阵列3中的交变电流在气隙5中形成绕该定子轴线旋转的磁场，旋转磁场在动子4中感应出涡流，涡流在磁场中受力，为动子4提供沿该定子轴线的悬浮力和绕该定子轴线的转矩。
当两个或两个以上定子1的线圈阵列3中通入交变电流时，每个定子1均为动子4提供沿该定子轴线的悬浮力和绕该定子轴线的转矩；各个定子1产生的悬浮力合成为动子4所受悬浮力，控制动子4的稳定悬浮，各个定子1产生的转矩合成为动子所受转矩，驱动动子4沿任意轴旋转。
在动子4工作时，分别在每组的两个定子通入相同的电流，为动子提供两个通过该组定子轴线且大小相等方向相反的悬浮力，实现动子4在该定子轴线方向的悬浮，当其中一个定子和动子4之间的气隙5减小时，该定子提供的悬浮力增大，另一个定子和动子4之间的气隙5增大，该定子提供的悬浮力减小，两个悬浮力共同作用使动子4重新回到中间位置，所以动子的悬浮属于固有稳定的悬浮，悬浮控制简单易实现。

Claims (4)

  1. 一种磁悬浮动量球，其特征在于：所述磁悬浮动量球包含一个动子(4)和定子(1)；所述定子包括三组，每组包含两个以动子的球心为对称中心的定子，三组定子的轴线相互正交，每个定子包含定子铁芯(2)和线圈阵列(3)；所述定子铁芯与动子相配合的内表面为球面，并与动子的外表面留有气隙(5)，定子铁芯沿径向开有通槽(6)，通槽在定子铁芯的圆周上均匀分布；所述线圈阵列采用盘式电机定子绕组，线圈阵列中每个线圈(7)的两个有效边(8)分别放置于定子铁芯的两个通槽内；每个定子的线圈数量是通槽数量的一半或与通槽数量相等；所述动子为球壳形，材料为导电金属材料。
  2. 根据权利要求1所述的一种磁悬浮动量球，其特征在于：动子采用两个半球壳(9)组合而成。
  3. 根据权利要求1所述的一种磁悬浮动量球，其特征在于：通槽采用平面型通槽(11)或弧面型通槽(12)。
  4. 根据权利要求1、2或3所述的一种磁悬浮动量球，其特征在于：在动子内嵌入由导磁材料制成的内球壳，内球壳的外表面与动子的内表面相配合。
PCT/CN2016/076396 2015-04-23 2016-03-15 一种磁悬浮动量球 Ceased WO2016169363A1 (zh)

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US15/568,581 US10532832B2 (en) 2015-04-23 2016-03-15 Magnetic levitation reaction sphere

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CN104753273B (zh) * 2015-04-23 2017-06-13 清华大学 一种磁悬浮动量球
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