WO2020140178A1

WO2020140178A1 - On-orbit launching apparatus

Info

Publication number: WO2020140178A1
Application number: PCT/CN2018/125949
Authority: WO
Inventors: 刘金国; 丁建; 佟玉闯
Original assignee: 中国科学院沈阳自动化研究所
Priority date: 2018-12-30
Filing date: 2018-12-30
Publication date: 2020-07-09
Also published as: CN109474160A; CN109474160B

Abstract

The present invention relates to the technical field of on-orbit space launching. Disclosed is an on-orbit launching apparatus. The main body of the apparatus is a permanent magnet linear synchronous motor, and the apparatus comprises a mover assembly and a stator assembly; the mover assembly comprises an I-shaped carriage, a mover permanent magnet array, and a mover guide rail; the mover permanent magnet array is embedded on the I-shaped carriage; the stator assembly comprises a support beam member, a stator winding array, and a stator guide rail; the support beam member is used for fixing the stator winding array. The stator guide rail and the mover guide rail work in concert to enable the mover assembly to slide along the direction of the stator guide rail. There is a gap, i.e., an air gap, between the mover permanent magnet array and the stator winding array at the corresponding position. The apparatus in the present invention has a simple structure and a large launching radius, can be repeatedly loaded for use, and is high in reliability.

Description

On-orbit launching device

Technical field

The invention relates to the technical field of on-orbit launch of aerospace, in particular to an on-orbit launch device.

Background technique

The application prospect of electromagnetic launchers in the aerospace field is very broad. The steam catapult is the most common catapult equipment used in active spacecraft, but it consists of a launch system, a steam system, a tow rope tensioning system, a lubrication and control system, etc. It is bulky and complicated. This makes it have some unavoidable defects from the beginning: (1) high cost of use, low efficiency, many supporting facilities, cumbersome systems, high requirements for all links; (2) high maintenance costs, frequent and cumbersome seal replacement , High requirements for materials; (3) A large amount of fresh water needs to be consumed. As the requirements of modern aerospace technology for combat capabilities increase, there is an urgent need to research new catapult equipment to replace traditional steam catapults. At the same time, the rapid development of power electronics technology, control technology, and interdisciplinary technology has also made it possible to develop new catapults.

Summary of the invention

In order to overcome the shortcomings of the prior art, the object of the present invention is to provide an on-orbit launching device, which has a simple structure, a large launch radius, can be repeatedly loaded and used, and has high reliability.

To achieve the above objectives, the scheme adopted by the present invention is as follows:

An on-orbit launching device includes a three-dimensional permanent magnet linear synchronous motor. The three-dimensional permanent magnet linear synchronous motor includes a mover assembly and a stator assembly, wherein:

The mover assembly includes an I-shaped carriage, a mover permanent magnet array, and a mover guide rail. The I-shaped carriage includes a first magnetic guide plate and a second magnetic guide plate arranged in parallel, the first magnetic guide plate and the second guide plate An intermediate magnetic guide plate perpendicular to the first magnetic guide plate is arranged between the two magnetic guide plates; the mover permanent magnet array is embedded on two opposite inner surfaces of the first magnetic guide plate and the second magnetic guide plate, and the middle On both surfaces of the magnetic permeable plate; the mover guide rails are provided on two opposite edges of the first magnetic permeable plate and the second magnetic permeable plate (on the two sides of the magnetic permeable plate parallel to the middle magnetic permeable plate);

The stator assembly includes a support beam member, a stator winding array, and a stator guide rail, and the support beam member is used to fix the stator winding array;

The support beam member includes a first support frame, a second support frame, and an iron core; wherein: both of the first support frame and the second support frame are formed by connecting a strip body with a rectangular cross section to an outer plate, the outer side The plate is parallel to the middle magnetic conductive plate in the mover assembly, and the first support frame and the second support frame are located on both sides of the middle magnetic conductive plate; the bars of the first support frame and the second support frame An iron core is provided inside the body; stator winding arrays are embedded on the upper surface, lower surface and inner surface of the bar; stator rails are provided on the upper and lower edges of the outer plate, and the stator rails and mover rails are provided The cooperation can make the mover assembly slide along the direction of the stator rail;

There is a gap between the mover permanent magnet array and the stator winding array at the corresponding position, which is an air gap.

Two rows of mover permanent magnet arrays are arranged on the inner surfaces of the first and second magnetic guide plates along the direction of the mover guide rail, and the number of layers of each row of mover permanent magnetic array is one layer; the middle guide A row of mover permanent magnet arrays are arranged on both sides of the surface of the magnetic plate along the direction of the mover guide rail, and the number of layers of each row of mover permanent magnet arrays is one layer.

In the stator assembly, the upper surface and the lower surface of each bar are provided with two rows of stator winding arrays along the direction of the stator rail, and the number of layers of each row of stator winding arrays is three (the layers are bonded to each other ); On the inner surface of each bar, a row of stator winding arrays are arranged along the direction of the stator rail, and the number of layers of each row of stator winding arrays is two.

The magnetic poles of the two rows of mover permanent magnet arrays on the first magnetic conducting plate are opposite, the magnetic poles of the two rows of mover permanent magnet arrays on the second magnetic conducting plate are opposite, and the first magnetic conducting plate and the second magnetic conducting plate The magnetic poles of the mover permanent magnet array at the corresponding positions of the magnetic plates are opposite.

The I-shaped carriage divides the magnetic circuit of the three-dimensional permanent magnet linear synchronous motor into a double-sided magnetic circuit. The single-sided main magnetic circuit starts from the magnetic pole N on the first magnetic conductive plate and passes through the air gap, winding and air gap in turn Reach the magnetic pole S on the second magnetic conductive plate, then enter the adjacent magnetic pole N along the iron yoke (second magnetic conductive plate), and then return to the magnetic pole S on the first magnetic conductive plate through the air gap, winding and air gap in turn , And then along the iron yoke (first magnetic conductive plate) to reach the initial magnetic pole N on the first magnetic conductive plate, thereby forming a closed loop.

The device also includes a displacement sensor; the stator winding array includes a plurality of stator blocks and coils, the same number of stator blocks and coils; each coil is wound on a stator block, and each coil is independently controlled by a separate drive; The displacement sensor adopts a magnetic grid displacement sensor with good seismic resistance. The moving magnetic head of the magnetic grid displacement sensor is installed on the I-shaped carriage of the mover assembly, and the magnetic scale is installed on the machine bed; the displacement signal of the displacement sensor is received by the controller In order to achieve closed-loop independent control according to the ejection requirements; there is no direct communication between the coil drivers, but each driver can provide the optimal control current according to the displacement of the carriage and the load.

The supporting beam member is formed by laminating silicon steel sheets, and at this time, the supporting beam member becomes a motor tooth, and a plurality of motor teeth are combined together to form a tooth groove structure of the motor;

The stator block in the stator winding array is an iron block, and the mover is a magnetic material; the material of the I-shaped carriage is a ferromagnetic material.

The advantages and beneficial effects of the present invention are as follows:

1. The on-orbit launcher of the present invention is an electromagnetic catapult. As a new type of spacecraft catapult take-off equipment, it has different characteristics from traditional steam catapults. Its use range is more extensive, energy utilization is improved, and it is reduced. The requirements for the spacecraft auxiliary system are specifically reflected in: (1) The range of use is wider, and the types of carrier-based aircraft that can be ejected by electromagnetic catapults include both current light and small drones, and heavier heavier ones that may appear in the future. Aircraft; (2) improved usability. The average period of two major failures of the current steam catapult is about 405 weeks, while the electromagnetic catapult can be increased to 1300 weeks; (3) reduced operations and the need for human support and cooperation (4) The energy utilization rate is improved. The efficiency of the electromagnetic catapult is about 60%, which is nearly 10 times that of the steam catapult. It reduces the requirements for the spacecraft auxiliary system.

2. The structure of the on-rail launcher provided by the present invention adopts the combined structure of multiple unit permanent magnet linear synchronous motors, which is beneficial to reduce the system's requirements for high-power power supply and avoid the technological difficulty of large permanent magnet linear synchronous motors, thereby reducing the entire large The power system is transformed into a combination of multiple low-power systems, and the appropriate control method will achieve the required control effect.

3. In the structure of the on-rail launching device provided by the present invention, the main body of the electromagnetic launcher is a high-power linear motor. Under the action of the electromagnetic force output by the linear motor, the animal body is accelerated and the object is launched. However, the linear motor has the problems of thrust fluctuation and efficiency change during operation, so it is very important to design the catapult drive linear motor reasonably.

4. For the structure of the on-orbit launching device provided by the present invention, the electromagnetic launching system is a huge system, which requires high reliability for the electromagnetic launcher. The linear motor as the main body of the electromagnetic transmitter is also a controlled object. Therefore, the research on the linear motor and its control method is very important and necessary, which is of great significance for the future development of the electromagnetic emitter drive system.

5. The electromagnetic catapult of the present invention has powerful advantages, and is expected to become a research hotspot in the aviation and military fields of various countries. In addition, electromagnetic catapults have important application value in scientific research, aerospace, civil production and transportation.

BRIEF DESCRIPTION

FIG. 1 is the principle of the single-side main magnetic circuit of the on-rail launching device of the present invention.

2 is a schematic diagram (cross-sectional view) of the overall structure of the on-rail launching device of the present invention.

FIG. 3 is a schematic diagram (perspective view) of the overall structure of the on-rail launching device of the present invention.

4 is a schematic structural view of a mover assembly in an on-rail launching device of the present invention.

In the picture: 1- I-shaped carriage; 101- first magnetic conductive plate; 102- second magnetic conductive plate; 103- middle magnetic conductive plate; 2- mover guide rail; 3- mover permanent magnet array; 4- Support beam member; 401-first support frame; 402-second support frame; 5-iron core; 6-stator winding array; 7-stator guide rail.

detailed description

The present invention will be described in detail below with reference to the drawings.

The essence of the electromagnetic drive technology is to apply a varying electric field to the coil to generate a changing magnetic field, and the changing magnetic field will generate an electromagnetic force on the ferromagnet located therein to drive it to move. The electromagnetic driving scheme designed by the invention is designed according to the needs of specific experiments. According to the thrust, ejection speed and energy consumption required by the bullet launcher, the principle of linear induction motor is proposed to design the overall structure and electromagnetic system of the bullet launcher based on the principle of electromagnetic ejection.

The structure of the on-rail launching device designed by the present invention is shown in Figures 1-4. The main body of the device is a three-dimensional permanent magnet linear synchronous motor, which includes a mover assembly and a stator assembly; the mover assembly includes an I-shaped carriage 1 and a mover Permanent magnet array 3 and mover guide rail 2, the I-shaped carriage includes a first magnetic conducting plate 101 and a second magnetic conducting plate 102 arranged in parallel, and the first magnetic conducting plate and the second magnetic conducting plate are arranged between A magnetic conducting plate is perpendicular to the central magnetic conducting plate 103; the mover permanent magnet array 3 is embedded on two opposite inner surfaces of the first magnetic conducting plate and the second magnetic conducting plate, and on both side surfaces of the central magnetic conducting plate The mover guide rail 2 is provided on two opposite edges of the first and second magnetic conductive plates (the two sides of the magnetic conductive plate parallel to the central magnetic conductive plate).

Since the coreless motor does not have a stator core magnetization, in order to increase the electromagnetic thrust, the present invention uses ferromagnetic materials with a magnetization effect to make the mover matrix (ie, I-shaped carriage), which is beneficial to increase the air gap magnetic density.

The stator assembly includes a support beam member 4, a stator winding array 6 and a stator guide rail 7. The support beam member is used to fix the stator winding array;

The support beam member includes a first support frame 401, a second support frame 402, and an iron core 5; wherein: both of the first support frame 401 and the second support frame 402 are composed of a strip body having a rectangular cross section and an outer plate Connected together, the outer side plate is parallel to the middle magnetic conductive plate in the mover assembly, and the first support frame and the second support frame are located on both sides of the middle magnetic conductive plate; the first support frame and An iron core 5 is provided inside the bar of the second support frame; stator winding arrays are embedded on the upper surface, lower surface and inner surface of the bar; stator guide rails 7 are provided on the upper and lower edges of the outer plate Through the cooperation of the stator guide rail 7 and the mover guide rail 2, the mover assembly can be slid along the direction of the stator guide rail; grooves can be formed on the upper and lower surfaces of the strip to help fix the stator winding array.

Two rows of mover permanent magnet arrays are arranged on the inner surfaces of the first and second magnetic guide plates along the direction of the mover guide rail, and the number of layers of each row of mover permanent magnetic array is one layer; the middle guide A row of mover permanent magnet arrays are arranged on both sides of the surface of the magnetic plate along the direction of the mover guide rail, and the number of layers of each row of mover permanent magnet arrays is one.

In the stator assembly, the upper surface and the lower surface of each bar are provided with two rows of stator winding arrays along the direction of the stator rail, and the number of layers of each row of stator winding arrays is three (the layers are bonded together) A row of stator winding arrays are arranged on the inner surface of each strip along the direction of the stator rail, and the number of layers of each row of stator winding arrays is two.

Since the mover base (I-shaped carriage) is a ferromagnetic material, the I-shaped carriage divides the magnetic circuit of the three-dimensional permanent magnet linear synchronous motor into a double-sided magnetic circuit, and the single-sided main magnetic circuit is from the first magnetic conductive plate Starting from the magnetic pole N of the magnetic pole, it passes through the air gap, the winding and the air gap to reach the magnetic pole S on the second magnetic conductive plate in turn, and then enters the adjacent magnetic pole N along the iron yoke (second magnetic conductive plate), and then passes through the air gap, The winding and the air gap return to the magnetic pole S on the first magnetic conductive plate, and then reach the initial magnetic pole N on the first magnetic conductive plate along the iron yoke (first magnetic conductive plate), thereby forming a closed loop. As shown in Figure 1, this type of structure more effectively uses the double-layer air gap to store motor energy.

The stator assembly of the permanent magnet linear synchronous motor in the present invention includes a stator winding array and a supporting beam member for fixing the winding. In the iron-core motor, the support beam member is formed by laminating silicon steel sheets. At this time, the support beam member becomes a motor tooth, and a plurality of motor teeth are combined to form the cogging structure of the motor. In the ironless motor, the supporting beam member is made of other non-magnetic materials. It can be seen that through the modular design of the stator (2) of the permanent magnet linear synchronous motor, the motor winding process becomes easier and the cost is lower.

Under the action of electromagnetic force, the mover moves along the guide rail and drives the projectile movement. The guide and support of the carriage adopt linear guide rails. The multiple stator windings in the entire three-dimensional space are independent. Each stator winding includes a stator block and a coil. Each coil is wound on an iron stator block. Each stator block is made independent and uses a separate drive. Independent control; displacement sensor adopts magnetic grid displacement sensor with good shock resistance. The moving magnetic head of the magnetic grid displacement sensor is installed on the I-shaped carriage of the mover assembly. The magnetic scale is installed on the machine bed. The carriage and the displacement sensor The number is equal; the displacement signal of the displacement sensor is received by the controller, and then the closed-loop independent control is realized according to the ejection requirements; there is no direct communication between the coil drivers, but each driver can provide the optimal according to the displacement and load of the carriage Control current. Among them, each coil, stator block and controller is an independent module, which can be replaced immediately when one or several of the modules fails, which improves the reliability, safety and fault tolerance of the system from the entire framework Sex, coordination.

In the above-mentioned on-rail launching device of the present invention, in order to make the motor provide sufficient and symmetrical thrust and avoid the influence of the unilateral magnetic pulling force of the motor, the permanent magnet linear synchronous motor adopts the structure shown in FIG. 2. By adopting a double-layer I-shaped structure, the motor design is flexible and the space utilization rate is good. When energized, the multi-layer stator generates electromagnetic force at the same time, acting on the mover, thereby pushing the mover to drive the projectile movement. The benefits of this solution can be combined with a permanent magnet linear synchronous motor with low power to form a permanent magnet linear synchronous motor that meets the high power requirements. From the above analysis, it can be seen that the structure of the permanent magnet linear synchronous motor for electromagnetic ejection can be used completely An array combination of multiple smaller power permanent magnet linear synchronous motors in three-dimensional space. The combination structure of multiple unit permanent magnet linear synchronous motors is helpful to reduce the system's requirements for high-power power supplies and avoid the technical difficulty of large permanent magnet linear synchronous motors, thereby transforming the entire high-power system into a combination of small power systems. Using appropriate control methods will achieve the required control effect.

Claims

An on-orbit launching device is characterized in that the device includes a three-dimensional permanent magnet linear synchronous motor, and the three-dimensional permanent magnet linear synchronous motor includes a mover assembly and a stator assembly, wherein:

The mover assembly includes an I-shaped carriage, a mover permanent magnet array, and a mover guide rail. The I-shaped carriage includes a first magnetic guide plate and a second magnetic guide plate arranged in parallel, the first magnetic guide plate and the second guide plate An intermediate magnetic guide plate perpendicular to the first magnetic guide plate is arranged between the two magnetic guide plates; the mover permanent magnet array is embedded on two opposite inner surfaces of the first magnetic guide plate and the second magnetic guide plate, and the middle On both surfaces of the magnetic conductive plate; the mover guide rail is provided on two opposite edges of the first magnetic conductive plate and the second magnetic conductive plate;

The stator assembly includes a support beam member, a stator winding array, and a stator guide rail, and the support beam member is used to fix the stator winding array;

The support beam member includes a first support frame, a second support frame, and an iron core; wherein: both of the first support frame and the second support frame are formed by connecting a strip body with a rectangular cross section to an outer plate, the outer side The plate is parallel to the middle magnetic conductive plate in the mover assembly, and the first support frame and the second support frame are located on both sides of the middle magnetic conductive plate; the bars of the first support frame and the second support frame An iron core is provided inside the body; stator winding arrays are embedded on the upper surface, lower surface and inner surface of the bar; stator rails are provided on the upper and lower edges of the outer plate, and the stator rails and mover rails are provided The cooperation can make the mover assembly slide along the direction of the stator rail;

There is a gap between the mover permanent magnet array and the stator winding array at the corresponding position, which is an air gap.
The on-rail launching device according to claim 1, characterized in that two rows of mover permanent magnet arrays are arranged on the inner surfaces of the first and second magnetic conducting plates along the direction of the moving guide rail, each row The number of layers of the mover permanent magnet array is one layer; a row of mover permanent magnet arrays are provided on both sides of the surface of the middle magnetic guide plate along the mover guide rail, and the number of layers of each row of mover permanent magnet arrays is one layer .
The on-rail launching device according to claim 2, characterized in that in the stator assembly, two rows of stator winding arrays are arranged along the stator guide rail on the upper surface and the lower surface of each bar, and each row of stator winding arrays The number of layers is three layers; on the inner surface of each strip, a row of stator winding arrays are arranged along the direction of the stator guide rail, and the number of layers of each row of stator winding arrays is two layers.
The on-orbit launcher according to claim 3, characterized in that the magnetic poles of the two rows of mover permanent magnet arrays on the first magnetic conductive plate are opposite, and the two rows of movers on the second magnetic conductive plate are permanently The magnetic poles of the magnetic array are opposite, and the magnetic poles of the mover permanent magnet array at positions corresponding to the first and second magnetic conducting plates are opposite.
The on-orbit launcher according to claim 4, characterized in that the I-shaped carriage divides the magnetic circuit of the three-dimensional permanent magnet linear synchronous motor into a double-sided magnetic circuit, and the single-sided main magnetic circuit is Starting from the magnetic pole N on the board, it passes through the air gap, winding and air gap in turn to reach the magnetic pole S on the second magnetic conductive plate, then enters the adjacent magnetic pole N along the iron yoke, and then passes through the air gap, winding and air gap in turn The magnetic pole S on the first magnetic conductive plate reaches the initial magnetic pole N on the first magnetic conductive plate along the iron yoke, thereby forming a closed loop.
The on-orbit transmitting device according to claim 1, characterized in that the device further includes a displacement sensor; the stator winding array includes a plurality of stator blocks and coils, and the number of stator blocks and coils is the same; each coil is wound in one On the stator block, each coil is independently controlled by a separate driver; the displacement sensor adopts a magnetic grid displacement sensor with good shock resistance. The moving magnetic head of the magnetic grid displacement sensor is installed on the I-shaped carriage of the mover assembly, and the magnetic grid The ruler is installed on the machine bed; each controller receives the displacement signal from the displacement sensor, and then realizes closed-loop independent control according to the ejection requirements; there is no direct communication between the coil drivers, but each driver can be based on the displacement of the carriage, The load change provides the optimal control current.
The on-rail launching device according to claim 1, wherein the support beam member is formed by laminating silicon steel sheets, and at this time, the support beam member becomes a motor tooth, and a plurality of motor teeth are combined to form a motor Cogging structure.
The on-rail launching device according to claim 6, characterized in that: the stator block in the stator winding array is an iron block, and the mover uses a magnetic material; and the material of the I-shaped carriage is a ferromagnetic material.