WO2017138165A1 - コントロールモーメントジャイロ - Google Patents
コントロールモーメントジャイロ Download PDFInfo
- Publication number
- WO2017138165A1 WO2017138165A1 PCT/JP2016/071709 JP2016071709W WO2017138165A1 WO 2017138165 A1 WO2017138165 A1 WO 2017138165A1 JP 2016071709 W JP2016071709 W JP 2016071709W WO 2017138165 A1 WO2017138165 A1 WO 2017138165A1
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- WO
- WIPO (PCT)
- Prior art keywords
- gimbal
- rotor
- spin
- bearing
- shaft
- Prior art date
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Classifications
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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
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/286—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using control momentum gyroscopes (CMGs)
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G3/00—Other motors, e.g. gravity or inertia motors
- F03G3/08—Other motors, e.g. gravity or inertia motors using flywheels
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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
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
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- 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
- G01C19/16—Suspensions; Bearings
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- 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
- G01C19/16—Suspensions; Bearings
- G01C19/18—Suspensions; Bearings providing movement of rotor with respect to its rotational axes
Definitions
- This invention relates to a control moment gyro that applies torque to the spacecraft to control the attitude of the spacecraft.
- a control moment gyro (CMG) is used as an attitude control actuator that is mounted on a spacecraft and controls the attitude of the spacecraft by applying torque to the spacecraft.
- the CMG is supported by a spin bearing and rotates at a high speed around the spin axis by rotating a torque module around the gimbal axis perpendicular to the spin axis, thereby rotating around the output axis perpendicular to the spin axis and the gimbal axis.
- a gyro torque proportional to the angular momentum of the rotor and the angular velocity around the gimbal axis is generated.
- the generated torque is transmitted from the CMG to the spacecraft through the spacecraft interface to control the attitude of the spacecraft.
- the torque output by the CMG passes through the load transmission path from the rotor to the spacecraft interface and is transmitted to the spacecraft. Therefore, the transmission efficiency of the torque output by the CMG is from the rotor to the spacecraft interface. This greatly depends on the transmission characteristics of the CMG structure on the load transmission path.
- the conventional CMG includes a thin, low-rigidity rotor cover for sealing the rotor in a vacuum on the load transmission path from the rotor to the spacecraft interface. Since a plurality of structural parts other than the cover are arranged in series, the load transmission path itself becomes long, and the support rigidity of the CMG structure on the load transmission path is low.
- the large-diameter gimbal bearing is disposed between the spin shaft of the rotor and the torque module.
- a conventional CMG has been proposed in which the load transmission path from the rotor to the spacecraft interface is made short and high in rigidity by being arranged at a position close to the spin axis (see, for example, Patent Document 1).
- the operating life of the gimbal bearing is shortened as compared with the case where only the radial load is applied to the gimbal bearing due to the shaft vibration of the rotor.
- an inner gimbal structure that causes deflection with respect to the axial vibration of the rotor exists in the load transmission path from the rotor to the gimbal bearing. Therefore, the shaft vibration generated in the rotor is amplified by the resonance characteristics due to the inner gimbal structure and transmitted to the spacecraft while being transmitted from the rotor to the spacecraft interface via the gimbal bearing.
- the shaft vibration transmitted to the spacecraft will act as a disturbance on the attitude of the observation equipment mounted on the spacecraft and the spacecraft itself, which is a major issue for spacecraft that require high-precision observation and attitude control.
- the gimbal bearing is arranged at a position shifted in a direction parallel to the axis of the gimbal bearing with respect to the axis of the spin axis, the inner gimbal existing in the load transmission path from the rotor to the gimbal bearing has a rigid structure. Therefore, it is necessary to suppress the occurrence of bending due to the shaft vibration of the rotor. Therefore, it is necessary to make the inner gimbal thick and rigid, and there is a problem that the inner gimbal becomes larger and the entire CMG becomes larger.
- the present invention has been made to solve the above-described problems, and suppresses the generation of moment load that acts on the gimbal bearing due to the shaft vibration of the rotor, thereby extending the life of the gimbal bearing and
- a compact control moment gyro that eliminates the structure that causes deflection due to the shaft vibration of the rotor in the load transmission path to the gimbal bearing and suppresses the increase in disturbance acting on the spacecraft due to the shaft vibration of the rotor. provide.
- the control moment gyro of the present invention includes an inner gimbal, a rotor that is rotatably held around the spin axis by the inner gimbal, a spin motor that is provided on the inner gimbal and rotates the rotor around the spin axis, A stator that holds the inner gimbal rotatably around a gimbal axis that is orthogonal to the spin axis, and a plane that is orthogonal to the gimbal axis and includes the spin axis is interposed between the inner gimbal and the stator.
- the gimbal bearing arranged in contact with or including the plane, and a torque module provided on the stator and rotating the inner gimbal around the gimbal axis.
- the gimbal bearings are disposed opposite to each other across a plane that is orthogonal to the gimbal axis and includes the spin axis. Therefore, since the moment load acting on the gimbal bearing is not generated by the shaft vibration of the rotor, the life of the gimbal bearing can be extended. In addition, since there is no structure in the load transmission path from the spin shaft to the gimbal bearing that causes deflection due to the rotor shaft vibration, the rotor shaft vibration is not amplified and transmitted to the spacecraft. Disturbances that affect the machine can be minimized.
- the inner gimbal is rigid against the axial vibration of the rotor regardless of the thickness and shape, the dimensions of the inner gimbal can be shortened, and the control moment gyro can be miniaturized.
- FIG. 1 is a top view showing a control moment gyro according to Embodiment 1 of the present invention
- FIG. 2 is a side view showing the control moment gyro according to Embodiment 1 of the present invention
- FIG. 3 is Embodiment 1 of the present invention. It is sectional drawing which shows the control moment gyro which concerns on.
- FIG. 4 is a sectional view showing a conventional control moment gyro.
- a control moment gyro 100 is provided in the stator 10, and is formed in a cylindrical shape, and is formed in a cylindrical shape and supported by the stator 10 so as to be rotatable around the gimbal shaft 7.
- the rotor 1 provided in the inner gimbal 9, the spin motor 3 provided in the inner gimbal 9 and rotating the rotor 1 around the spin axis 5, and the spacecraft interface 11 provided in the stator 10.
- the rotor 1 includes a shaft 1a that is supported at both ends by two pairs of spin bearings 2 so as to be rotatable around the spin axis 5, and an inertia element that is provided integrally with the shaft 1a and increases the moment of inertia around the spin axis 5.
- the inertial element is generally composed of a rotating ring having a mass at a position away from the spin axis 5, a cylinder or a conical shell.
- a rotor cover (not shown) for sealing the rotor 1 to a vacuum is attached so as to cover the rotor 1 in order to prevent torque loss due to windage loss during rotation of the rotor 1. It is done.
- the spin bearings 2 are arranged at both ends of the shaft 1a so as to rotatably support the rotor 1 around the spin axis 5.
- the spin bearing 2 is generally used in a configuration in which two or more angular ball bearings having different contact angles of balls in the bearing with respect to one end of the shaft 1 a of the rotor 1 are combined. 2 has sufficient rigidity against radial load and thrust load, and also has sufficient rigidity against moment load. Further, two pairs of spin bearings 2 arranged at both ends of the shaft 1a are used for the purpose of alleviating thermal deformation of the rotor 1 due to changes in the ambient temperature environment and axial misalignment of the spin bearings 2 arranged at both ends of the shaft 1a.
- one pair is a fixed bearing that rigidly supports the outer ring of the bearing with respect to the spin bearing housing 4, and the other pair is provided with a gap with respect to the spin bearing housing 4, and a viscous fluid or an elastic member is enclosed inside. Consists of floating bearings that are supported in a state.
- the spin motor 3 includes a spin motor rotor in which permanent magnets are arranged and a spin motor stator in which excitation windings are arranged.
- the spin motor rotor of the spin motor 3 is fixed to the shaft 1 a, and the spin motor stator of the spin motor 3 is fixed to the spin bearing housing 4.
- the spin motor rotor and the spin motor stator are arranged to face each other with a slight gap.
- the spin motor 3 excites the winding in the spin motor stator in response to a rotation command to the rotor 1 to rotate the rotor 1 around the spin axis 5.
- the spin bearing housing 4 is attached to the inner peripheral surface of the inner gimbal 9 so as to face each other with the gimbal shaft 7 interposed therebetween.
- a spin bearing 2 and a spin motor 3 are arranged inside the spin bearing housing 4.
- the outer ring of the spin bearing 2 and the spin motor stator of the spin motor 3 are fixedly supported by the spin bearing housing 4.
- the rotor 1 is attached to the inner gimbal 9 so as to be rotatable around the spin axis 5 orthogonal to the gimbal axis 7.
- the gimbal bearing 6 is disposed between the inner gimbal 9 and the stator 10. Thereby, the inner gimbal 9 is supported by the stator 10 so that it can rotate around the gimbal shaft 7. Further, the gimbal bearing 6 is used in a configuration in which two angular ball bearings having different contact angles of the balls in the bearing are combined, which is sufficient for the radial load and the thrust load acting on the gimbal bearing 6 during the rotation of the rotor 1. With sufficient rigidity, it has sufficient rigidity against moment load.
- the pair of angular ball bearings constituting the gimbal bearing 6 is disposed between the inner gimbal 9 and the stator 10 so as to sandwich the plane orthogonal to the gimbal shaft 7 and including the spin shaft 5.
- the gimbal bearing 6 is a ring-shaped bearing having a diameter that allows the inner gimbal 9 to fit in the inner ring of the gimbal bearing 6 in order to rotatably support the outer periphery of the cylindrical inner gimbal 9. .
- the torque module 8 includes a gimbal motor stator 8a in which a winding for excitation is arranged, and a gimbal motor rotor 8b in which a permanent magnet is arranged.
- the gimbal motor stator 8 a is arranged and fixed over the entire circumference on the inner circumferential surface of the stator 10, and the gimbal motor rotor 8 b is arranged and fixed over the whole circumference on the outer circumferential surface of the inner gimbal 9.
- the gimbal motor stator 8a and the gimbal motor rotor 8b are arranged to face each other with a slight gap.
- the gimbal motor stator 8 a and the gimbal motor rotor 8 b are disposed on a plane including the spin shaft 5 that is orthogonal to the gimbal shaft 7. Therefore, the torque module 8 is arranged adjacent to the gimbal bearing 6 alongside the gimbal bearing 6 in a direction parallel to the axis of the gimbal shaft 7.
- the distance between the torque module 8 and the gimbal bearing 6 in a direction parallel to the axis of the gimbal shaft 7 is parallel to the axis of the gimbal shaft 7 of the torque module 8. This means that the dimension in one direction and the dimension in the direction parallel to the axis of the gimbal shaft 7 of the gimbal bearing 6 are less than the largest dimension.
- the torque module 8 is disposed between a pair of angular ball bearings constituting the gimbal bearing 6.
- the torque module 8 may be configured to include an angle sensor for measuring a relative rotation angle between the inner gimbal 9 and the stator 10, for example, an encoder, a resolver, a tachometer, and the like.
- an angle sensor to be used a sensor that measures the relative rotation angle of the inner gimbal 9 and the stator 10 in a non-contact manner is desirable.
- the torque module 8 may include a device suitable for transmitting a rotation command and electric power to the spin motor 3 or a rotation command or electric power across the rotation boundary surface, for example, a slip ring. Good.
- the torque module 8 rotates the inner gimbal 9 around the gimbal shaft 7 in response to a rotation command from the outside, thereby rotating around the spin shaft 5 supported by the inner gimbal 9 via the spin bearing housing 4.
- the rotor 1 that rotates at high speed is rotated around the gimbal shaft 7.
- the inner gimbal 9 is formed in a cylindrical shape and is disposed between the spin bearing housing 4 and the gimbal bearing 6. At this time, the spin bearing housing 4 is fixed to the inner periphery of the inner gimbal 9, and the inner ring of the gimbal bearing 6 is fixed to the outer periphery of the inner gimbal 9.
- the shape of the inner gimbal 9 is not limited to a cylindrical shape, and various shapes can be considered within a range that satisfies the function.
- the method of fixing the inner gimbal 9 and the spin bearing housing 4 is not limited to the method of directly fixing the inner gimbal 9 to the inner periphery of the inner gimbal 9, but a mounting rib is provided on the inner gimbal 9, and the rib is inserted through the rib.
- the spin bearing housing 4 may be fixed to the inner gimbal 9.
- the inner gimbal 9 is as thin as possible as long as it can be sufficiently rigidly coupled between the spin bearing housing 4 and the inner ring of the gimbal bearing 6 with respect to the load output by the rotor 1. It is desirable to be.
- the stator 10 is manufactured in a cylindrical shape, and the outer ring of the gimbal bearing 6 is fixed to the inner periphery of the stator 10, and the torque module 8 is disposed. Further, a spacecraft interface 11 is provided on the outer peripheral surface or side surface of the stator 10. At this time, the shape of the stator 10 is not limited to a cylindrical shape, and may be various shapes within a range satisfying the function.
- the spacecraft interface 11 is disposed between the stator 10 and the CMG mounting portion of the spacecraft (not shown).
- the spacecraft interface 11 is provided on the outer periphery or side surface of the stator 10, and is rigidly connected to the CMG mounting portion of the spacecraft using bolts or the like on the entire periphery or part of the stator 10.
- the spacecraft interface 11 may be configured by a part of the stator 10 or may be configured by attaching another component to the stator 10.
- the spacecraft interface 11 is provided on the outer peripheral surface of the stator 10 so as to be in contact with the axis of the spin axis 5, but is provided on the axis of the spin axis 5 or at a position close to the axis of the spin axis 5. May be.
- the spacecraft interface 11 is formed in a ring shape, and the stator is arranged so that a plane orthogonal to the gimbal axis 7 and including the spin axis 5 passes through the interior, is in contact with the plane, or is adjacent to the plane. You may provide in 10 outer peripheral surfaces.
- the spacecraft interface 11 being orthogonal to the gimbal axis 7 and adjacent to the plane including the spin axis 5 means that the distance between the spacecraft interface 11 and the plane in a direction parallel to the axis of the gimbal axis 7 is.
- the thickness of the spacecraft interface 11 in the direction parallel to the axis of the gimbal shaft 7 that is, the thickness, the diameter of the shaft 1 a of the rotor 1, and the dimensions of the stator 10 in the direction parallel to the axis of the gimbal shaft 7. Means less than the largest dimension.
- the rotor 1 having both ends of the shaft 1a supported by the two pairs of spin bearings 2 is rotationally driven around the spin shaft 5 by the spin motor 3.
- the inner gimbal 9 supported by the gimbal bearing 6 is rotationally driven around the gimbal shaft 7 by the torque module 8. Therefore, the rotor 1 that rotates at high speed around the spin axis 5 rotates around the gimbal axis 7.
- the output torque proportional to the angular momentum generated by the moment of inertia and angular velocity of the rotor 1 rotating at high speed and the angular velocity around the gimbal shaft 7 is orthogonal to the two axes of the spin shaft 5 and the gimbal shaft 7. Is output around the torque output shaft 12.
- Torque output around the torque output shaft 12 is transmitted to the spacecraft through the spacecraft interface 11 disposed in the stator 10 to control the attitude of the spacecraft.
- a conventional CMG 200 includes a stator 22, an inner gimbal 18 that is supported by the stator 22 via gimbal bearings 20 and 24, and is disposed so as to be rotatable around the gimbal shaft 19. Is rotated around the gimbal shaft 19, a spin bearing housing 17 attached to the inner gimbal 18, supported by the spin bearing housing 17 via the spin bearing 14, and rotatably arranged around the spin shaft 16.
- the gimbal bearing 20 is disposed at a position closer to the spin shaft 16 than the torque module 21 in terms of distance, and a load transmission path indicated by a dotted line in FIG. 4 is configured.
- 20 has a moment load according to the distance between the spin shaft 16 and the gimbal bearing 20 in addition to the radial load caused by the axial vibration of the spin shaft 16, so the operating life of the gimbal bearing 20 is shortened. .
- the gimbal bearing 20 is arranged between the spin shaft 16 and the torque module 21 and at a position close to the spin shaft 16, the gimbal bearing 20 and the torque module 21 are arranged on the stator 22. Not only does the dimension become longer, but the dimension of the inner gimbal 18 that is rotationally driven by the torque module 21 also needs to be longer in order to be connected to the torque module 21, resulting in an increase in the overall size of the CMG 200.
- the rotation between the spin shaft 16 and the gimbal bearing 20 is performed.
- a moment load proportional to the distance was acting on the gimbal bearing 20.
- the gimbal bearing 6 that rotatably supports the inner gimbal 9 on which the rotor 1 is disposed is disposed so as to sandwich the plane including the spin shaft 5 that is orthogonal to the gimbal shaft 7. Therefore, no moment load is generated in the gimbal bearing 6 due to the shaft vibration generated in the rotor 1.
- the load acting on the gimbal bearing 6 is smaller than that of the gimbal bearing 20 in the conventional CMG 200, and the operating life of the gimbal bearing 6 can be designed to be longer.
- the inner gimbal 9 disposed between the spin bearing housing 4 and the gimbal bearing 6 with respect to the axial direction of the spin shaft 5 is within the range of the frequency of vibration that is a problem in the spacecraft. Can be considered almost rigid.
- the axial vibration generated in the rotor 1 is transferred from the rotor 1 to the spacecraft. Since it is not amplified during transmission, the magnitude of the disturbance acting on the spacecraft can be kept very small.
- the inner gimbal 18 on the load transmission path from the rotor 13 to the gimbal bearing 20 needs to be as rigid as possible. As 18 becomes larger, the weight becomes heavier.
- the inner gimbal 9 is rigid with respect to the axial vibration of the rotor 1 as a configuration regardless of its thickness and shape, and thus the size of the inner gimbal 9 can be reduced. It is possible to reduce the weight.
- the gimbal bearing 20 is disposed between the spin shaft 16 and the torque module 21, and particularly disposed closer to the spin shaft 16, the mounting position and torque of the gimbal bearing 20 with respect to the stator 22 are arranged.
- the mounting position of the module 21 becomes far.
- the dimension of the stator 22 in which the gimbal bearing 20 and the torque module 21 are arranged becomes longer in the axial direction of the gimbal shaft 19, and the stator 22 is enlarged.
- the gimbal bearing 6 is disposed so as to sandwich a plane including the spin shaft 5 orthogonal to the gimbal shaft 7, and the torque module 8 is adjacent to the gimbal bearing 6. Since it is disposed on the axis of the spin shaft 5, the dimension of the stator 10 in which the gimbal bearing 6 and the torque module 8 are disposed can be shortened with respect to the axial direction of the gimbal shaft 7. Figured.
- the inner gimbal 9 can be reduced in size and the second gimbal bearing 24 required in the conventional CMG 200 can be obtained. Therefore, the overall size of the CMG 100 can be made thin and small, and the weight of the entire CMG 100 can be reduced.
- the spacecraft interface 25 is arranged so as to include the position of the center of gravity of the conventional CMG 200 so that bending vibration is not induced in the conventional CMG 200 with respect to the vibration input in the translational direction due to the sine wave vibration and random vibration when the rocket is launched.
- the spacecraft interface 25 will be arranged so that the center of gravity of the entire conventional CMG 200 is supported and the distance in the axial direction of the gimbal shaft 19 from the spin axis 16 to the spacecraft interface 25 is minimized. There is a problem that can not be raised.
- the center of gravity position of the entire CMG 100 is substantially on the spin axis 5. Therefore, disposing the spacecraft interface 11 so as to support the center of gravity of the entire CMG 100 and minimizing the axial distance of the gimbal shaft 7 from the spin axis 5 to the spacecraft interface 11 are the spacecraft interface.
- both can be achieved naturally. Thereby, there is an effect that the CMG 100 that is robust against the vibration environment at the time of launching the rocket can be obtained.
- FIG. 5 is a sectional view showing a control moment gyro according to Embodiment 2 of the present invention.
- the gimbal bearing 6 is disposed between the inner gimbal 9 and the stator 10 so as to be in contact with a plane including the spin axis 5 orthogonal to the gimbal axis 7.
- the torque module 8 is disposed adjacent to the gimbal bearing 6 and below the plane with a plane including the spin axis 5 orthogonal to the gimbal axis 7 interposed therebetween.
- the distance between the torque module 8 and the gimbal bearing 6 in a direction parallel to the axis of the gimbal shaft 7 is parallel to the axis of the gimbal shaft 7 of the torque module 8. This means that the dimension in one direction and the dimension in the direction parallel to the axis of the gimbal shaft 7 of the gimbal bearing 6 are less than the largest dimension.
- Other configurations are the same as those in the first embodiment.
- the CMG 101 configured as described above operates in the same manner as the CMG 100 according to the first embodiment. Since the gimbal bearing 6 is arranged so as to be in contact with the axis of the spin shaft 5, a moment load is not generated on the gimbal bearing 6 due to the shaft vibration generated in the rotor 1. Only radial loads will act. Further, with respect to the axial direction of the spin shaft 5, the inner gimbal 9 disposed between the spin bearing housing 4 and the gimbal bearing 6 is regarded as almost rigid in the range of vibration frequencies that are a problem in the spacecraft. Is possible. Therefore, there is no structure on the load transmission path from the rotor 1 to the gimbal bearing 6 that causes bending with respect to the axial vibration of the rotor 1.
- the gimbal bearing 6 is disposed so as to be in contact with the axis of the spin shaft 5
- the torque module 8 is disposed adjacent to the gimbal bearing 6, and the gimbal bearing 6 and the torque module 8 sandwich the axis of the spin shaft 5. Therefore, the dimension of the stator 10 in which the gimbal bearing 6 and the torque module 8 are arranged can be shortened with respect to the axial direction of the gimbal shaft 7, and the stator 10 can be downsized.
- the torque module 8 rotationally drives the inner gimbal 9, it is not necessary to provide a separate gimbal shaft, so that the inner gimbal 9 can be downsized. Therefore, also in the second embodiment, the same effect as in the first embodiment can be obtained.
- the center of gravity position of the entire CMG 101 is different from that of the first embodiment, but the configuration of the entire CMG 101 is not rotationally symmetric with respect to the spin axis 5, but is the same as in the first embodiment. In addition, it exists at a position near the spin axis 5.
- the spacecraft interface 11 by arranging the spacecraft interface 11 at a position close to the axis of the spin axis 5, a configuration that is robust against the vibration environment at the time of launching the rocket can be achieved.
- the second embodiment when a pair of angular ball bearings constituting the gimbal bearing 6 is combined, it is possible to use a pair of angular ball bearings whose production is controlled in advance as a combined bearing. Therefore, the assembly management of the gimbal bearing 6 is facilitated and the preload for the gimbal bearing 6 is easily adjusted. Moreover, since it is not necessary to arrange the torque module 8 between a pair of angular ball bearings constituting the gimbal bearing 6, there is an effect that there is no restriction on the size and arrangement of the torque module 8.
- the gimbal bearing 6 is arranged so as to be in contact with the axis of the spin shaft 5, that is, the gimbal shaft 7 and perpendicular to the plane including the spin shaft 5. You may arrange
- FIG. 6 is a sectional view showing a control moment gyro according to Embodiment 3 of the present invention.
- the gimbal bearing 6 is disposed between the inner gimbal 9 and the stator 10 so as to be in contact with a plane including the spin shaft 5 orthogonal to the gimbal shaft 7.
- the torque module 8 is arranged on the upper part of the plane adjacent to the gimbal bearing 6 across a plane including the spin axis 5 orthogonal to the gimbal axis 7.
- the distance between the torque module 8 and the gimbal bearing 6 in a direction parallel to the axis of the gimbal shaft 7 is parallel to the axis of the gimbal shaft 7 of the torque module 8.
- Other configurations are the same as those in the second embodiment.
- the CMG 101A according to the third embodiment is the same as the CMG 101 according to the second embodiment except that the arrangement of the gimbal bearing 6 and the torque module 8 with respect to the spin shaft 5 and the spacecraft interface 11 is reversed. It is configured. Therefore, the CMG 101A operates in the same manner as the CMG 101, and the same effect can be obtained.
- FIG. 7 is a sectional view showing a control moment gyro according to Embodiment 4 of the present invention.
- the torque module 81 is disposed on the side surface of the stator 10.
- a rotation transmission mechanism 82 that transmits the rotational torque output from the torque module 81 to the inner gimbal 9 is provided between the torque module 81 and the inner gimbal 9.
- the torque module 81 only needs to be able to output rotational torque, and for example, a motor is used.
- the rotation transmission mechanism 82 should just be what can transmit rotational torque, for example, a gear and a belt are used. Other configurations are the same as those in the first embodiment.
- the CMG 102 configured as described above operates in the same manner as the CMG 100 according to the first embodiment, and the same effect can be obtained.
- the gimbal motor stator 8a in which the winding for excitation in the torque module 8 is arranged is arranged on the inner peripheral surface of the stator 10. It is not necessary to arrange the gimbal motor rotor 8b on which the permanent magnets are arranged over the entire circumference, and it is not necessary to arrange the gimbal motor rotor 8b on the outer circumferential surface of the inner gimbal 9 over the entire circumference. Therefore, in addition to improving the assemblability of the torque module 81, it is possible to greatly reduce the amount of high-cost permanent magnets and exciting windings used, thereby reducing the manufacturing cost of the CMG 102.
- the torque module 81 is used instead of the torque module 8 in the CMG 100 according to the first embodiment.
- the torque module is replaced with the torque module 8 in the CMGs 101 and 101A according to the second and third embodiments. Even if 81 is used, the same effect can be obtained.
- FIG. FIG. 8 is a sectional view showing a control moment gyro according to Embodiment 5 of the present invention.
- the maximum diameter ⁇ of the rotor 1A is configured to be substantially the same as the length L between two pairs of spin bearings 2 that rotatably support both ends of the shaft 1a.
- Other configurations are the same as those in the first embodiment.
- the CMG 103 configured as described above operates in the same manner as in the first embodiment, and the same effect as in the first embodiment can be obtained.
- the space through which the rotor 1A passes around the spin shaft 5 during rotation can be used more efficiently than the space formed by the inner periphery of the inner gimbal 9. Furthermore, since the diameter ⁇ of the rotor 1A is increased to almost the maximum within a range that fits within the inner periphery of the inner gimbal 9, there is an effect of increasing the moment of inertia of the rotor 1A.
- the rotor 1A is used instead of the rotor 1 in the CMG 100 according to the first embodiment.
- the rotor 1A is replaced with the rotor 1 in the CMGs 101, 101A, and 102 according to the second to fourth embodiments. Even if it uses, the same effect is acquired.
- FIG. 9 is a top view showing a control moment gyro according to Embodiment 6 of the present invention
- FIG. 10 is a side view showing a control moment gyro according to Embodiment 6 of the present invention.
- the outer diameter of the rotor 1B is configured to be equal to or smaller than the dimension of the longest member in the axial direction of the gimbal shaft 7 among the spin bearing housing 4, the inner gimbal 9, and the stator 10. Yes.
- Other configurations are the same as those in the first embodiment.
- the CMG 104 configured in this manner also operates in the same manner as in the first embodiment, and the same effect as in the first embodiment can be obtained.
- the maximum outer diameter of the rotor 1B is equal to or smaller than the dimension of the member having the longest gimbal axial dimension among the spin bearing housing 4, the inner gimbal 9, and the stator 10. Therefore, the rotor 1 ⁇ / b> B does not protrude in the axial direction of the gimbal shaft 7 from the member having the longest gimbal axial dimension among the spin bearing housing 4, the inner gimbal 9, and the stator 10. Therefore, the dimension of the CMG 104 in the axial direction of the gimbal shaft 7 becomes very small, and attachment to the spacecraft is greatly improved.
- the rotor 1B has a cylindrical shape that is substantially concentric with the shaft 1a of the rotor 1B, it is easy to manufacture, and complicated machining or combination processing by welding is not required. There is an effect that it is possible to make the disparity between target and dynamic very small.
- the rotor 1B is used instead of the rotor 1 in the CMG 100 according to the first embodiment.
- the rotor 1B is used instead of the rotor 1 in the CMGs 101, 101A, and 102 according to the second to fourth embodiments. Even if it uses, the same effect is acquired.
- FIG. 11 is a cross-sectional view showing a control moment gyro according to Embodiment 7 of the present invention.
- the inner gimbal 9 ⁇ / b> A includes a gimbal shaft 90 coaxial with the gimbal shaft 7 at the lower portion of the rotor 1, and is supported by the stator 10 ⁇ / b> A so as to be rotatable around the gimbal shaft 7 by gimbal bearings 6 and 60.
- a pair of angular ball bearings constituting the gimbal bearing 6 is disposed between the inner gimbal 9A and the stator 10A so as to sandwich the plane orthogonal to the gimbal shaft 7 and including the spin shaft 5 and to contact the plane.
- the torque module 8 is disposed in the stator 10A so as to rotationally drive the gimbal shaft 90.
- Other configurations are the same as those in the first embodiment.
- the CMG 105 configured as described above operates in the same manner as the CMG 100 according to the first embodiment.
- the gimbal bearing 6 that rotatably supports the inner gimbal 9A on which the rotor 1 is disposed is disposed so as to sandwich the plane including the spin shaft 5 that is orthogonal to the gimbal shaft 7. Therefore, no moment load is generated in the gimbal bearing 6 due to the shaft vibration generated in the rotor 1. Therefore, only a radial load acts on the gimbal bearing 6, so that the operating life of the gimbal bearing 6 can be designed to be long.
- the inner gimbal 9A disposed between the spin bearing housing 4 and the gimbal bearing 6 is regarded as almost rigid in the range of vibration frequencies that are a problem in the spacecraft. Is possible. Therefore, there is no structure on the load transmission path from the rotor 1 to the gimbal bearing 6 that causes bending with respect to the axial vibration of the rotor 1. Therefore, since the shaft vibration generated in the rotor 1 is not amplified while being transmitted from the rotor 1 to the spacecraft, the magnitude of the disturbance acting on the spacecraft can be suppressed very small.
- the inner gimbal 9A is disposed between the spin bearing housing 4 and the gimbal bearing 6 with respect to the axial direction of the spin shaft 5, the inner gimbal 9A can be configured as a shaft of the rotor 1 regardless of its thickness or shape. Stiff against vibration. Therefore, the size of the inner gimbal 9A can be reduced, and the CMG 105 can be reduced in size.
- the axial dimension of the gimbal shaft 7 of the stator 10A is increased.
- the diameter of the gimbal shaft 90 of the inner gimbal 9 can be set small, the size of the torque module 8 can be reduced, and it is not necessary to prepare a torque module 8 having a large diameter.
- the inner gimbal 9A and the stator 10A are used instead of the inner gimbal 9 and the stator 10 in the CMG 100 according to the first embodiment.
- the CMGs 101, 101A, 102, and the like according to the second to sixth embodiments are used. Similar effects can be obtained by using the inner gimbal 9A and the stator 10A in place of the inner gimbal 9 and the stator 10 in 103 and 104.
- FIG. 12 is a sectional view showing a control moment gyro according to an eighth embodiment of the present invention.
- the inner gimbal 9 ⁇ / b> A includes a gimbal shaft 90 coaxial with the gimbal shaft 7 at the top of the rotor 1, and is supported by the stator 10 ⁇ / b> A so as to be rotatable around the gimbal shaft 7 by gimbal bearings 6 and 60.
- a pair of angular ball bearings constituting the gimbal bearing 6 is disposed between the inner gimbal 9A and the stator 10A so as to sandwich the plane orthogonal to the gimbal shaft 7 and including the spin shaft 5 and to contact the plane.
- the torque module 8 is disposed in the stator 10A so as to rotationally drive the gimbal shaft 90.
- Other configurations are the same as those in the seventh embodiment.
- the CMG 105A according to the eighth embodiment is the same as the CMG 105 according to the seventh embodiment except that the arrangement of the gimbal bearing 6 and the torque module 8 with respect to the spin shaft 5 and the spacecraft interface 11 is reversed. It is configured. Accordingly, the CMG 105A operates in the same manner as the CMG 105, and the same effect can be obtained.
- the inner gimbal 9A and the stator are replaced with the inner gimbal 9 and the stator 10 in the CMGs 101, 101A, 102, 103, and 104 according to the second to sixth embodiments.
- the same effect can be obtained using 10A.
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Abstract
Description
CMGは、スピン軸受によって支持され、スピン軸周りに高速で回転するロータを、スピン軸と直交するジンバル軸周りにトルクモジュールにより回転させることで、スピン軸およびジンバル軸に対して直交する出力軸周りに、ロータが持つ角運動量とジンバル軸周りの角速度に比例したジャイロトルクが発生する。この発生したトルクを、CMGから宇宙機インターフェースを通じて宇宙機に伝達させて、宇宙機の姿勢を制御する。
図1はこの発明の実施の形態1に係るコントロールモーメントジャイロを示す上面図、図2はこの発明の実施の形態1に係るコントロールモーメントジャイロを示す側面図、図3はこの発明の実施の形態1に係るコントロールモーメントジャイロを示す断面図である。図4は従来のコントロールモーメントジャイロを示す断面図である。
図5はこの発明の実施の形態2に係るコントロールモーメントジャイロを示す断面図である。
なお、他の構成は、上記実施の形態1と同様に構成されている。
図6はこの発明の実施の形態3に係るコントロールモーメントジャイロを示す断面図である。
なお、他の構成は、上記実施の形態2と同様に構成されている。
したがって、CMG101Aにおいても、CMG101と同様に動作し、同様の効果が得られる。
図7はこの発明の実施の形態4に係るコントロールモーメントジャイロを示す断面図である。
なお、他の構成は、上記実施の形態1と同様に構成されている。
図8はこの発明の実施の形態5に係るコントロールモーメントジャイロを示す断面図である。
なお、他の構成は、上記実施の形態1と同様に構成されている。
図9はこの発明の実施の形態6に係るコントロールモーメントジャイロを示す上面図、図10はこの発明の実施の形態6に係るコントロールモーメントジャイロを示す側面図である。
なお、他の構成は、上記実施の形態1と同様に構成されている。
図11この発明の実施の形態7に係るコントロールモーメントジャイロを示す断面図である。
なお、他の構成は、上記実施の形態1と同様に構成されている。
図12この発明の実施の形態8に係るコントロールモーメントジャイロを示す断面図である。
なお、他の構成は、上記実施の形態7と同様に構成されている。
したがって、CMG105Aにおいても、CMG105と同様に動作し、同様の効果が得られる。
Claims (8)
- 宇宙機に配備するコントロールモーメントジャイロであって、
インナージンバルと、
上記インナージンバルによってスピン軸周りに回転可能に保持されたロータと、
上記インナージンバルに設けられ、上記ロータを上記スピン軸周りに回転させるスピンモータと、
上記インナージンバルを上記スピン軸と直交するジンバル軸周りに回転可能に保持するステータと、
上記インナージンバルと上記ステータとの間に、上記ジンバル軸と直交し、かつ上記スピン軸を含む平面を挟んで相対して、上記平面に接して、又は上記平面を含んで配置されたジンバル軸受と、
上記ステータに設けられ、上記インナージンバルを上記ジンバル軸周りに回転させるトルクモジュールと、を備えるコントロールモーメントジャイロ。 - 上記トルクモジュールは、上記ジンバル軸受に隣接して上記ステータに設けられていることを特徴とする請求項1に記載のコントロールモーメントジャイロ。
- 上記ジンバル軸受は、上記平面を挟んで相対する2つのアンギュラ玉軸受により構成されている請求項1又は請求項2記載のコントロールモーメントジャイロ。
- 上記トルクモジュールは、2つの上記アンギュラ玉軸受の間に設けられている請求項3に記載のコントロールモーメントジャイロ。
- 上記ジンバル軸受は、上記平面に接して配置され、
上記トルクモジュールは、上記平面を挟んで上記ジンバル軸受と相対して配置されている請求項2に記載のコントロールモーメントジャイロ。 - 上記平面を含んで、上記平面に接して、又は上記平面に隣接して設けられ、上記宇宙機と上記ステータとを接続するインターフェースを備えた請求項1から請求項5のいずれか1項に記載のコントロールモーメントジャイロ。
- 上記ロータの最大直径が、上記ロータのシャフトの両端を回転可能に支持する軸受間の長さと同じである請求項1から請求項6のいずれか1項に記載のコントロールモーメントジャイロ。
- 上記ロータの最大直径が、上記ステータおよび上記インナージンバルのなかの上記ジンバル軸の軸方向の最大寸法以下である請求項1から請求項6のいずれか1項に記載のコントロールモーメントジャイロ。
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JP2017566499A JP6505262B2 (ja) | 2016-02-10 | 2016-07-25 | コントロールモーメントジャイロ |
EP16889866.6A EP3415867A4 (en) | 2016-02-10 | 2016-07-25 | GYROSCOPIC ACTUATOR |
US16/070,086 US11021272B2 (en) | 2016-02-10 | 2016-07-25 | Control moment gyroscope |
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CN108253993A (zh) * | 2018-01-09 | 2018-07-06 | 北京卫星环境工程研究所 | 星载控制力矩陀螺的微振动扰振力测试装置 |
CN109466801A (zh) * | 2018-11-20 | 2019-03-15 | 中国人民解放军战略支援部队航天工程大学 | 一种磁悬浮万向球 |
WO2019183675A1 (en) | 2018-03-28 | 2019-10-03 | Verton IP Pty Ltd | Improved arrangements for rotational apparatus |
KR102188740B1 (ko) | 2019-12-04 | 2020-12-08 | 한국항공대학교산학협력단 | 가변 속도 제어 모멘트 자이로스코프 장치 |
US11167867B2 (en) * | 2016-09-09 | 2021-11-09 | Mitsubishi Electric Corporation | Artificial satellite, attitude control system, and attitude control method |
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US11834305B1 (en) | 2019-04-12 | 2023-12-05 | Vita Inclinata Ip Holdings Llc | Apparatus, system, and method to control torque or lateral thrust applied to a load suspended on a suspension cable |
US11618566B1 (en) | 2019-04-12 | 2023-04-04 | Vita Inclinata Technologies, Inc. | State information and telemetry for suspended load control equipment apparatus, system, and method |
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US11021272B2 (en) | 2021-06-01 |
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JPWO2017138165A1 (ja) | 2018-07-12 |
US20190016480A1 (en) | 2019-01-17 |
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