CN100538270C - Double-frame magnetic suspension control moment gyro - Google Patents
Double-frame magnetic suspension control moment gyro Download PDFInfo
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- CN100538270C CN100538270C CNB2007103042364A CN200710304236A CN100538270C CN 100538270 C CN100538270 C CN 100538270C CN B2007103042364 A CNB2007103042364 A CN B2007103042364A CN 200710304236 A CN200710304236 A CN 200710304236A CN 100538270 C CN100538270 C CN 100538270C
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Abstract
Double-frame magnetic suspension control moment gyro mainly is made up of flywheel, inner frame and outside framework system, flywheel is in the middle part of double-frame magnetic suspension control moment gyro, and flywheel mainly is made up of rotating shaft, radial hybrid magnetic bearing, axial magnetic bearing, radial displacement transducer, shaft position sensor, high-speed electric expreess locomotive and rotor case; Inner frame and outside framework system mainly are made up of framework, mechanical bearing, torque motor, speed reduction unit, angular position pick up, conducting slip ring and control system; The inner frame system links to each other by the axis hole of speed reduction unit with rotor case one end, and conducting slip ring links to each other with the axis hole of angular position pick up with the rotor case other end; The outside framework system links to each other by the axis hole of speed reduction unit with inner frame one end, and conducting slip ring links to each other with the axis hole of angular position pick up with the inner frame other end.The present invention has reduced noise, the volume and weight of system by hybrid magnetic bearing, has eliminated bearing friction power, thereby has improved the life-span and the control accuracy of control-moment gyro.
Description
Technical field
The present invention relates to a kind of double-frame magnetic suspension control moment gyro, can be used as long-time running or require the spacecraft of big motor-driven and quick response and the topworks of the attitude control system of Large Spacecraft such as space station.
Background technology
Control-moment gyro is to be applied in a spaceborne class inertia topworks, mainly is made up of flywheel and frame system, and by the direction of framework servo-drive system control flywheel angular momentum, thereby the output gyroscopic couple is controlled the attitude of spacecraft.The topworks's requirement output torque that requires the attitude of Large Spacecraft such as the spacecraft of big motor-driven and quick response and space station to control is big, the life-span is long, reliability is high, response speed is fast, precision is high, volume is little, in light weight, low in energy consumption, this just requires the rotating speed of the flywheel of output angle momentum to want high, with weight reduction, reduced volume; The torque motor output torque of requirement frame system is big, control accuracy is high.Degree of freedom number according to framework, compare with the single frame control-moment gyro, the major advantage of the attitude control system that two framework control-moment gyros are formed is: the momentum envelope is that spheroid, singularity are not obvious, configuration and control law are simple, be convenient to handle, it is reliable convenient to install, when same redundant was spent, the attitude system quality of forming than single frame control-moment gyro was light.So two framework control-moment gyros are Large Spacecraft attitude control system key topworkies.Support unit as flywheel rotor, existing pair of framework control-moment gyro adopts the mechanical bearing supporting, thereby the raising of rotor speed, the serviceable life of having reduced system and reliability have fundamentally been limited, increased the power consumption of system, vibration and noise are big, control accuracy is low, in order to make the required angular momentum of control-moment gyro output, has to increase the weight and volume of control-moment gyro.Therefore the existing pair of framework control-moment gyro major defect is that volume and weight is big, control accuracy is low, poor reliability, life-span are relatively shorter etc.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, the double-frame magnetic suspension control moment gyro that a kind of life-span is long, control accuracy is high, reliability is high, vibration is little is provided.
Technical solution of the present invention is: double-frame magnetic suspension control moment gyro is made up of fly wheel system, inner frame system and outside framework system three parts, wherein fly wheel system is divided into stationary part and rotating part, it is characterized in that: stationary part mainly comprise stationary part, radial displacement transducer, axial magnetic bearing, shaft position sensor, protection bearing, the high-speed electric expreess locomotive of radial hybrid magnetic bearing stationary part, go up rotor case, rotor case, gland bonnet down; Rotating part mainly comprises the rotating part of rotating shaft, radial hybrid magnetic bearing, the rotor portion of high-speed electric expreess locomotive, two high-speed electric expreess locomotives are in the middle part of flywheel, and axial magnetic bearing is positioned at the left and right sides of high-speed electric expreess locomotive, is connected with following rotor case with last rotor case respectively; The high-speed electric expreess locomotive radial outside connects radial hybrid magnetic bearing, radial displacement transducer, protection bearing, shaft position sensor successively, goes up rotor case and following rotor case, wherein radial displacement transducer is connected with the stationary part of radial hybrid magnetic bearing, the stationary part that radially mixes the magnetic levitation magnetic bearing also is connected with following gyro with last rotor case respectively simultaneously, and last rotor case is connected with gland bonnet respectively with following rotor case; The rotor portion of high-speed electric expreess locomotive, the rotating part that radially mixes the magnetic levitation magnetic bearing link together with rotating shaft respectively, the protection bearing is connected with following rotor case with last rotor case with bearing seat by the protection bearing plate with shaft position sensor, form diametrically between protection bearing and the rotating shaft and radially protect the gap, form axially protection gap between the shaft shoulder of protection bearing and rotating shaft, for radially surveying the gap, between the end of shaft position sensor and rotating shaft the axial detection gap between the probe of radial displacement transducer and the detection ring; The inner frame system is mainly by inner frame, the inner frame mechanical bearing, the inner frame torque motor, the inner frame motor shaft, inner frame electromechanics bearing, the inner frame speed reduction unit, the inner frame reducer shaft, the inner frame angular position pick up, the inner frame sensor axis, the inner frame conducting slip ring, inner frame conducting slip ring support and inner frame end cap and corresponding inner frame control system are formed, the rotor of inner frame torque motor is connected with the inner frame speed reduction unit by the inner frame motor shaft, the inner frame speed reduction unit links to each other with the axis hole of last rotor case one end by the inner frame reducer shaft, the stator of inner frame torque motor, the stationary part of inner frame electromechanics bearing links to each other with inner frame, the rotating part of inner frame conducting slip ring links to each other with the inner frame sensor axis by inner frame conducting slip ring support, the stationary part of inner frame conducting slip ring links to each other with the inner frame end cap, the rotating part of inner frame angular position pick up links to each other with the axis hole of inner frame sensor axis with the last rotor case other end by inner frame conducting slip ring support, the fixed part of inner frame angular position pick up links to each other with inner frame, inner frame electromechanics bearing play supporting role to the rotating part of inner frame torque motor, and the inner frame mechanical bearing is to inner frame speed reduction unit and inner frame angular position pick up, the rotating part of inner frame conducting slip ring play supporting role;
The outside framework system is by outside framework, the outside framework mechanical bearing, the outside framework torque motor, the outside framework motor shaft, outside framework electromechanics bearing, the outside framework speed reduction unit, the outside framework reducer shaft, the outside framework angular position pick up, the outside framework sensor axis, the outside framework conducting slip ring, outside framework conducting slip ring support and outside framework end cap and corresponding outside framework control system are formed, the rotor of outside framework torque motor is connected with the outside framework speed reduction unit by the outside framework motor shaft, the outside framework speed reduction unit links to each other with the axis hole of inner frame one end respectively by the outside framework reducer shaft, the stator of outside framework torque motor, the stationary part of outside framework electromechanics bearing links to each other with outside framework, the rotating part of outside framework conducting slip ring links to each other with the outside framework sensor axis by outside framework conducting slip ring support, the stationary part of outside framework conducting slip ring links to each other with the outside framework end cap, the rotating part of outside framework angular position pick up links to each other with the axis hole of outside framework sensor axis with the inner frame other end by outside framework conducting slip ring support, the fixed part of outside framework angular position pick up links to each other with outside framework, outside framework electromechanics bearing play supporting role to the rotating part of outside framework torque motor, and the outside framework mechanical bearing is to outside framework speed reduction unit and outside framework angular position pick up, the rotating part of outside framework conducting slip ring play supporting role.
Described radial hybrid magnetic bearing is the on-mechanical contact bearing, it is the hybrid magnetic bearing of permanent magnet bias, Electromagnetic Control, comprise rotating part and stationary part, its China and foreign countries' magnetic guiding loop, permanent magnet, stator core, magnetizing coil, interior magnetic guiding loop, rotor core, magnetic air gap, excitatory air gap are formed, wherein interior magnetic guiding loop, permanent magnet and rotor core are rotating part, and all the other are stationary part.
Described axial magnetic bearing is the on-mechanical contact bearing, is the hybrid magnetic bearing of permanent magnet bias, Electromagnetic Control, comprises bearing body, magnetizing coil, permanent magnet, magnetic guiding loop, excitatory air gap.
Described high-speed electric expreess locomotive comprises stationary part and rotating part, and rotating part mainly by internal rotor iron core, permanent magnet and outer rotor iron core part ingredient, mainly be made up of the drag cup stator by stationary part.High-speed electric expreess locomotive does not contain mechanical bearing, and radial hybrid magnetic bearing, axial magnetic bearing play radial and axial supporting positioning action for high-speed electric expreess locomotive simultaneously.
Described high-speed electric expreess locomotive is the hollow cup-shaped permanent-magnet brushless DC electric machine of non-stator iron core, or is permagnetic synchronous motor.
The torque motor that described frame system is used and be the low speed torque motor of no teeth groove, or be stepper motor.
Described angular position pick up and be rotary transformer, or be inductosyn.
For surveying the gap, measurement range is 0.25mm～1.25mm between the probe of described radial displacement transducer and the detection ring.
Be the axial detection gap between the end of described shaft position sensor and rotating shaft, measurement range is 0.5～1.5mm.
Described speed reduction unit is a harmonic speed reducer, or is the spur gear speed reduction unit, or is filter speed reducer.
Principle of the present invention is: two framework control-moment gyros are made up of fly wheel system, inner frame system and outside framework system three parts, and the inner frame system is vertical mutually with the axis of outside framework system rotating shaft, and the barycenter by fly wheel system.Rotating speed control section by fly wheel system makes the rotating speed of fly wheel system rotor keep constant, provides angular momentum by high speed rotor.Inner frame system and outside framework system rotate the angular momentum that forces flywheel and change direction, thus the output gyroscopic couple, and gyroscopic couple equals the cross product of framework rotating speed vector and flywheel angular momentum vector.Wherein, inner frame system control flywheel angular momentum is done the precession of one degree of freedom, outside framework system control flywheel angular momentum is done the precession of another degree of freedom, thus the progress of inner frame system and two degree of freedom of outside framework system control flywheel, the gyroscopic couple of two degree of freedom of generation.By the two-freedom attitude control of two framework control-moment gyro may command spacecrafts, need two two framework control-moment gyros can realize the control of spacecraft Three Degree Of Freedom attitude.Support unit as control-moment gyro, radial hybrid magnetic bearing keeps the fly wheel system rotating shaft and the radial play of the stationary part of fly wheel system to stablize radial play constant and the high-speed electric expreess locomotive rotor stablizing constantly, and axial magnetic bearing maintenance fly wheel system rotating shaft end play is stablized constant.After control-moment gyro is subjected to external interference, make rotating shaft radially or end play when changing, radial displacement transducer and shaft position sensor will in time detect the variation in gap, send detection signal, add magnetic bearing controller by increasing or reduce electric current in radial hybrid magnetic bearing and the axial magnetic bearing solenoid, make the electromagnetism magnetic of its generation close close superimposed or subtract each other with permanent magnetism magnetic, thereby increase or reduce the magnetic force of radial hybrid magnetic bearing and axial magnetic bearing, thereby the stationary part of assurance control-moment gyro fly wheel system and the radial and axial gap of rotating shaft are even, eliminate the influence of external interference, keep the normal operation of fly wheel system rotor.Angular position pick up as control-moment gyro inner frame and outside framework system, its effect is that the angle of fly wheel system precession and angular velocity are converted into voltage signal, through changing the size and Orientation of the output torque of torque motor after the closed-loop control system, and then control moment rotating speed of motor, thereby can improve the control accuracy of framework speed greatly, the gyroscopic couple of final control system output.
The present invention's advantage compared with prior art is: the present invention adopts speed reduction unit in inner frame and outside framework system, can effectively reduce volume, weight and the pulsation moment of torque motor, and improve advantages such as the output accuracy of gyroscopic couple and moment resolution, thereby reduced the volume and weight of frame system; The hybrid magnetic bearing that has adopted permanent magnet bias in fly wheel system is as support unit, compare with the control-moment gyro of mechanical bearing supporting, there are not mechanical friction and wearing and tearing, do not need to lubricate, thereby can improve the rotating speed of its flywheel greatly, under the situation of retentive control moment gyro output same angular momentum, can reduce the volume and weight of fly wheel system effectively, reduced vibration, improved serviceable life, reduced power consumption, improve control accuracy, can significantly improve the serviceable life and the control accuracy of spacecraft by double-frame magnetic suspension control moment gyro.
Description of drawings
Fig. 1 is a section of structure of the present invention;
Fig. 2 is the magnet steel radial hybrid magnetic bearing sectional view in the excitatory air gap of being with of permanent magnet bias ACTIVE CONTROL of the present invention;
Fig. 3 is the magnet steel radial hybrid magnetic bearing longitudinal section view in the excitatory air gap of being with of permanent magnet bias ACTIVE CONTROL of the present invention;
Fig. 4 is the excitatory air gap outer steel radial hybrid magnetic bearing sectional view of being with of permanent magnet bias ACTIVE CONTROL of the present invention;
Fig. 5 is the magnet steel radial hybrid magnetic bearing longitudinal section view in the excitatory air gap of being with of permanent magnet bias ACTIVE CONTROL of the present invention;
Fig. 6 is the interior magnet steel axial magnetic bearing sectional view of permanent magnet bias ACTIVE CONTROL of the present invention;
Fig. 7 is the outer steel axial magnetic bearing sectional view of permanent magnet bias ACTIVE CONTROL of the present invention;
Fig. 8 is the axial section of high-speed electric expreess locomotive of the present invention;
Fig. 9 is the axial section of the torque motor of inner frame of the present invention system;
Figure 10 is bearing wall and frame structure figure of the present invention, and wherein (a) surveys view for waiting axle, (b) is front view, (c) is vertical view, (d) is side view.
Figure 11 is an outside framework structural drawing of the present invention, and wherein (a) surveys view for waiting axle, (b) is front view, (c) is vertical view, (d) is side view.
Embodiment
As shown in Figure 1, high-speed electric expreess locomotive 4 of the invention process need use and be in the middle part of flywheel rotating shaft 2 in pairs, axially mix the outside that magnetic levitation magnetic bearing 11 need use and be in high-speed electric expreess locomotive 4 in pairs, radial hybrid magnetic bearing 5 need use and be in the both sides up and down of high-speed electric expreess locomotive 4 in pairs, the stationary part of the stationary part of high-speed electric expreess locomotive 4, radial hybrid magnetic bearing 5 and axially mix magnetic levitation magnetic bearing 11 respectively with last rotor case 1, down rotor case 12 links to each other, last rotor case 1 and following rotor case 12 link to each other with two end cap 8 up and down respectively; The rotating part of the rotor portion of high-speed electric expreess locomotive 4 and radial hybrid magnetic bearing 5 links to each other with flywheel rotating shaft 2; The upper end of radial hybrid magnetic bearing 5 is a radial displacement transducer 9, and it links to each other with the stationary part that radially mixes magnetic levitation magnetic bearing 5; Protection bearing 6 links to each other with following rotor case 12 with last rotor case 1 with bearing seat with the pressing plate of shaft position sensor 7 by protection bearing 6; shaft position sensor 7 is connected with the pressing plate of protection bearing 6; form respectively between the axle head of protection bearing 6 and rotating shaft 2 and the shaft shoulder and radially protect the gap (generally to get 0.1mm～0.12mm) and axially protect gap and (generally get 0.1mm～0.12mm); for reducing the power consumption of radial hybrid magnetic bearing 5 and axial magnetic bearing 11; consider machining and assembly technology simultaneously; present embodiment is got and radially protected the gap is 0.1mm, and axially protecting the gap is 0.1mm.Of the present invention pair of framework control-moment gyro inner frame system is by inner frame 20, framework mechanical bearing 19, torque motor 13, motor shaft 17, mechanical bearing 14, speed reduction unit 16, reducer shaft 18, angular position pick up 22, sensor axis 21, conducting slip ring 23, conducting slip ring support 24 and end cap 15 and corresponding inner frame control system are formed, the rotor of torque motor 13 is connected with speed reduction unit 16 by motor shaft 17, speed reduction unit 16 links to each other with the axis hole of last rotor case 1 one ends respectively by reducer shaft 18, the stator of torque motor 13, the stationary part of mechanical bearing 14 links to each other with inner frame 20, the rotating part of conducting slip ring 23 links to each other with sensor axis 21 by conducting slip ring support 24, the stationary part of conducting slip ring 23 links to each other with end cap, the rotating part of angular position pick up 22 links to each other with the axis hole of sensor axis 21 with last rotor case 1 other end by conducting slip ring support 24, the fixed part of angular position pick up 22 links to each other with inner frame 20, the rotating part of 14 pairs of torque motors 13 of mechanical bearing play supporting role, 19 pairs of speed reduction units 16 of framework mechanical bearing and angular position pick up 22, the rotating part of conducting slip ring 23 play supporting role.Outside framework of the present invention system is by outside framework 32, framework mechanical bearing 25, torque motor 28, motor shaft 31, mechanical bearing 29, speed reduction unit 27, reducer shaft 26, angular position pick up 35, sensor axis 38, conducting slip ring 37, conducting slip ring support 36 and end cap 30 and corresponding outside framework control system are formed, the rotor of torque motor 28 is connected with speed reduction unit 27 by motor shaft 31, speed reduction unit 27 links to each other with the axis hole of inner frame 20 1 ends respectively by reducer shaft 26, the stator of torque motor 28, the stationary part of mechanical bearing 29 links to each other with outside framework 32, the rotating part of conducting slip ring 27 links to each other with sensor axis 38 by conducting slip ring support 36, the stationary part of conducting slip ring 27 links to each other with end cap, the rotating part of angular position pick up 35 links to each other with the axis hole of sensor axis 38 with inner frame 20 other ends by conducting slip ring support 36, the fixed part of angular position pick up 35 links to each other with outside framework 32, the rotating part of 29 pairs of torque motors 28 of mechanical bearing play supporting role, 25 pairs of speed reduction units 27 of framework mechanical bearing and angular position pick up 35, the rotating part of conducting slip ring 27 play supporting role.
Radial hybrid magnetic bearing 5 of the present invention is the on-mechanical contact bearing, is active hybrid magnetic bearing permanent magnet bias, Electromagnetic Control.Fig. 2 and Fig. 3 have provided the magnet steel radial hybrid magnetic bearing in the excitatory air gap of being with of permanent magnet bias ACTIVE CONTROL, it mainly is made up of outer magnetic guiding loop 52, permanent magnet 53, stator core 55, magnetizing coil 51, interior magnetic guiding loop 58, rotor core 57, magnetic air gap 56, excitatory air gap 54, wherein interior magnetic guiding loop 58, permanent magnet 53 and rotor core 57 are rotating part, and all the other are stationary part.Fig. 4 and Fig. 5 have provided the excitatory air gap outer steel radial hybrid magnetic bearing of being with of permanent magnet bias ACTIVE CONTROL, it mainly by outer magnetic guiding loop 52, permanent magnet 53, stator core 55, magnetizing coil 51, interior magnetic guiding loop 58, rotor core 57, magnetic air gap 56,, excitatory air gap 54 forms, wherein interior magnetic guiding loop 58 and rotor core 57 are rotating part, and all the other are stationary part.
Radial displacement transducer 9 of the present invention is a non-contact displacement sensor, as the displacement transducer of radial hybrid magnetic bearing 5, can be current vortex sensor, also can be capacitive displacement transducer.For surveying the gap, measurement range is 0.25mm～1.25mm between the probe of radial displacement transducer 9 and the detection ring, considers the linear measurement range of displacement transducer 9, and present embodiment is taken as 0.7mm.
Axial magnetic bearing 11 of the present invention is the on-mechanical contact bearing, be active hybrid magnetic bearing permanent magnet bias, Electromagnetic Control, the outer steel axial magnetic bearing of the interior magnet steel axial magnetic bearing of permanent magnet bias ACTIVE CONTROL as shown in Figure 6, permanent magnet bias ACTIVE CONTROL shown in Figure 7.In these two kinds of axial magnetic bearings, mainly form by bearing body 111, magnetizing coil 112, permanent magnet 113, magnetic guiding loop 114, excitatory air gap 115.
High-speed electric expreess locomotive 4 of the present invention is drive parts of fly wheel system in two framework control-moment gyros, adopt the aircored hollow cup-shaped stator permanent magnet brshless DC motor of no teeth groove, Fig. 8 is its axial section, it mainly is made up of internal rotor iron core 44, drag cup stator 42, permanent magnet 43 and outer rotor 41 parts unshakable in one's determination, wherein drag cup stator 42 is a stationary part, and all the other are rotating part.
High-speed electric expreess locomotive 4 of the present invention does not contain bearing, and radial hybrid magnetic bearing 5, axial magnetic bearing 11 play radial and axial supporting positioning action for high-speed electric expreess locomotive 4 simultaneously.
Inner frame torque motor 13 of the present invention and outside framework torque motor 28 are drive parts of frame system, adopt no teeth groove DC brushless torque, Fig. 9 is its axial section, it mainly by stator lamination 131, stator winding 132, permanent magnet 133, rotor laminated 134 and baffle plate 135 form, wherein permanent magnet 133, rotor laminated 134 and baffle plate 135 be rotating part, all the other are static moving part, form magnetic air gap 136 at rotating part and stationary part.
Of the present invention 22 and 35 (Fig. 1) are angular position pick up, can be rotary transformers, also can be inductosyns, and it mainly acts on is to provide angle position signal for inner frame and outside framework system, simultaneously position signalling is fed back to external control system.
Among the present invention 3 (Fig. 1) is the vacuum socket, interface for electric signal, main effect is that high-speed electric expreess locomotive, current vortex sensor, radial hybrid magnetic bearing and the axial magnetic bearing for flywheel inside provides electric energy, simultaneously internal signal is fed back to external control system.
Among the present invention 10 (Fig. 1) is the vacuum suction valve, is connected with vacuum pump.Vacuum pump is evacuated fly wheel system inside by the vacuum suction valve, after fly wheel system inside is evacuated, the vacuum suction valve cuts out, and keeps the flywheel inner vacuum.
Among the present invention 33 (Fig. 1) is socket, is the interface of electric signal, and main effect is for torque motor, rotary transformer, conducting slip ring in inner frame, the outside framework system provide electric energy, simultaneously internal signal is fed back to external control system.
Fly wheel system of the present invention need add the sealing outer cover and play good thermolysis to keep inner vacuum or to charge into helium, also has temperature sensor simultaneously, is used to survey temperature inside.
Claims (10)
1, double-frame magnetic suspension control moment gyro, it mainly is made up of flywheel, inner frame and outside framework system three parts, and wherein fly wheel system is divided into stationary part and rotating part, it is characterized in that; Stationary part mainly comprises stationary part, radial displacement transducer (9), axial magnetic bearing (11), shaft position sensor (7), the stationary part of protecting bearing (6), high-speed electric expreess locomotive (4), last rotor case (1), following rotor case (12), the gland bonnet (8) of radial hybrid magnetic bearing (5); Rotating part mainly comprises the rotating part of rotating shaft (2), radial hybrid magnetic bearing (5), the rotor portion of high-speed electric expreess locomotive (4), two high-speed electric expreess locomotives (4) are in the middle part of flywheel, and axial magnetic bearing (11) is positioned at the left and right sides of high-speed electric expreess locomotive (4), is connected with following rotor case (12) with last rotor case (1) respectively; High-speed electric expreess locomotive (4) radial outside connects radial hybrid magnetic bearing (5), radial displacement transducer (9), protection bearing (6), shaft position sensor (7) successively, goes up rotor case (1) and following rotor case (12), wherein radial displacement transducer (9) is connected with the stationary part of radial hybrid magnetic bearing (5), the stationary part that radially mixes magnetic levitation magnetic bearing (5) also is connected with following gyro (12) with last rotor case (1) respectively simultaneously, and last rotor case (1) is connected with gland bonnet (8) respectively with following rotor case (12); The rotor portion of high-speed electric expreess locomotive (4), the rotating part that radially mixes magnetic levitation magnetic bearing (5) links together with rotating shaft (2) respectively, protection bearing (6) is connected with following rotor case (12) with last rotor case (1) with bearing seat by the protection bearing plate with shaft position sensor (2), form diametrically between protection bearing (6) and the rotating shaft (2) and radially protect the gap, form axially protection gap between the shaft shoulder of protection bearing (6) and rotating shaft (2), for radially surveying the gap, be the axial detection gap between the end of shaft position sensor (7) and rotating shaft (2) between the probe of radial displacement transducer (9) and the detection ring; The inner frame system is mainly by inner frame (20), inner frame mechanical bearing (19), inner frame torque motor (13), inner frame motor shaft (17), inner frame electromechanics bearing (14), inner frame speed reduction unit (16), inner frame reducer shaft (18), inner frame angular position pick up (22), inner frame sensor axis (21), inner frame conducting slip ring (23), inner frame conducting slip ring support (24) and inner frame end cap (15) and corresponding inner frame control system are formed, the rotor of inner frame torque motor (13) is connected with inner frame speed reduction unit (16) by inner frame motor shaft (17), inner frame speed reduction unit (16) links to each other with the axis hole of last rotor case (1) one end by inner frame reducer shaft (18), the stator of inner frame torque motor (13), the stationary part of inner frame electromechanics bearing (14) links to each other with inner frame (20), the rotating part of inner frame conducting slip ring (23) links to each other with inner frame sensor axis (21) by inner frame conducting slip ring support (24), the stationary part of inner frame conducting slip ring (23) links to each other with inner frame end cap (15), the rotating part of inner frame angular position pick up (22) links to each other with the axis hole of inner frame sensor axis (21) with last rotor case (1) other end by inner frame conducting slip ring support (24), the fixed part of inner frame angular position pick up (22) links to each other with inner frame (20), inner frame electromechanics bearing (14) play supporting role to the rotating part of inner frame torque motor (13), and inner frame mechanical bearing (19) is to inner frame speed reduction unit (16) and inner frame angular position pick up (22), the rotating part of inner frame conducting slip ring (23) play supporting role;
The outside framework system is by outside framework (32), outside framework mechanical bearing (25), outside framework torque motor (28), outside framework motor shaft (31), outside framework electromechanics bearing (29), outside framework speed reduction unit (27), outside framework reducer shaft (26), outside framework angular position pick up (35), outside framework sensor axis (38), outside framework conducting slip ring (37), outside framework conducting slip ring support (36) and outside framework end cap (30) and corresponding outside framework control system are formed, the rotor of outside framework torque motor (28) is connected with outside framework speed reduction unit (27) by outside framework motor shaft (31), outside framework speed reduction unit (27) links to each other with the axis hole of inner frame (20) one ends respectively by outside framework reducer shaft (26), the stator of outside framework torque motor (28), the stationary part of outside framework electromechanics bearing (29) links to each other with outside framework (32), the rotating part of outside framework conducting slip ring (27) links to each other with outside framework sensor axis (38) by outside framework conducting slip ring support (36), the stationary part of outside framework conducting slip ring (27) links to each other with outside framework end cap (30), the rotating part of outside framework angular position pick up (35) links to each other with the axis hole of outside framework sensor axis (38) with inner frame (20) other end by outside framework conducting slip ring support (36), the fixed part of outside framework angular position pick up (35) links to each other with outside framework (32), outside framework electromechanics bearing (29) play supporting role to the rotating part of outside framework torque motor (28), and outside framework mechanical bearing (25) is to outside framework speed reduction unit (27) and outside framework angular position pick up (35), the rotating part of outside framework conducting slip ring (27) play supporting role.
2, double-frame magnetic suspension control moment gyro according to claim 1, it is characterized in that: described radial hybrid magnetic bearing (5) is the on-mechanical contact bearing, it is permanent magnet bias, the hybrid magnetic bearing of Electromagnetic Control, comprise rotating part and stationary part, its China and foreign countries' magnetic guiding loop (52), permanent magnet (53), stator core (55), magnetizing coil (51), interior magnetic guiding loop (58), rotor core (57), magnetic air gap (56), excitatory air gap (54) is formed, wherein interior magnetic guiding loop (58), permanent magnet (53) and rotor core (57) are rotating part, and all the other are stationary part.
3, double-frame magnetic suspension control moment gyro according to claim 1, it is characterized in that: described axial magnetic bearing (11) is the on-mechanical contact bearing, be the hybrid magnetic bearing of permanent magnet bias, Electromagnetic Control, comprise bearing body (111), magnetizing coil (112), permanent magnet (113), magnetic guiding loop (114), excitatory air gap (115).
4, double-frame magnetic suspension control moment gyro according to claim 1, it is characterized in that: described high-speed electric expreess locomotive (4) comprises stationary part and rotating part, rotating part is mainly by internal rotor iron core (44), permanent magnet (43) and outer rotor iron core (41) parts ingredient, stationary part mainly is made up of drag cup stator (42), high-speed electric expreess locomotive (4) does not contain mechanical bearing, and radial hybrid magnetic bearing (5), axial magnetic bearing (11) play radial and axial supporting positioning action for high-speed electric expreess locomotive (4) simultaneously.
5, according to claim 1 or 3 described double-frame magnetic suspension control moment gyros, it is characterized in that: described high-speed electric expreess locomotive (4) is the hollow cup-shaped permanent-magnet brushless DC electric machine of non-stator iron core, or is permagnetic synchronous motor.
6, double-frame magnetic suspension control moment gyro according to claim 1 is characterized in that: described inner frame torque motor (13) and outside framework torque motor (28) are the low speed torque motor of no teeth groove, or are stepper motor.
7, double-frame magnetic suspension control moment gyro according to claim 1 is characterized in that: inner frame angular position pick up (22) and outside framework angular position pick up (25) are rotary transformer, or are inductosyn.
8, double-frame magnetic suspension control moment gyro according to claim 1 is characterized in that: for surveying the gap, measurement range is 0.25mm～1.25mm between the probe of described radial displacement transducer (9) and the detection ring.
9, double-frame magnetic suspension control moment gyro according to claim 1 is characterized in that: be the axial detection gap between the end of described shaft position sensor (7) and rotating shaft (2), measurement range is 0.5～1.5mm.
10, double-frame magnetic suspension control moment gyro according to claim 1 is characterized in that: described inner frame speed reduction unit (16) and outside framework speed reduction unit (27) are harmonic speed reducer, or are the spur gear speed reduction unit, or are filter speed reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007103042364A CN100538270C (en) | 2007-12-26 | 2007-12-26 | Double-frame magnetic suspension control moment gyro |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007103042364A CN100538270C (en) | 2007-12-26 | 2007-12-26 | Double-frame magnetic suspension control moment gyro |
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| CN101219714A CN101219714A (en) | 2008-07-16 |
| CN100538270C true CN100538270C (en) | 2009-09-09 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104118579B (en) * | 2014-08-06 | 2016-04-27 | 北京航空航天大学 | A kind of four-degree-of-freedom magnetic suspension control moment gyro of single framework |
| CN104176277B (en) * | 2014-08-06 | 2016-01-20 | 北京航空航天大学 | A kind of four-degree-of-freedom double-frame magnetic suspension control moment gyro |
| CN104613950B (en) * | 2015-01-06 | 2017-06-27 | 中国人民解放军装备学院 | A kind of magnetic suspension control sensitivity gyro |
| CN104697509B (en) * | 2015-01-06 | 2017-11-24 | 中国人民解放军装备学院 | A kind of magnetically suspended gyroscope of seven passages magnetic circuit decoupling |
| CN104613951B (en) * | 2015-01-06 | 2017-12-15 | 中国人民解放军装备学院 | A kind of magnetically suspended gyroscope of magnetic circuit decoupling |
| CN105438500B (en) * | 2015-11-20 | 2017-08-04 | 北京石油化工学院 | A kind of outer rotor magnetic suspension taper sphere gyroscope flywheel |
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