WO1995001279A1 - Touchdown and launch-lock apparatus for magnetically suspended control moment gyroscope - Google Patents
Touchdown and launch-lock apparatus for magnetically suspended control moment gyroscope Download PDFInfo
- Publication number
- WO1995001279A1 WO1995001279A1 PCT/US1994/007422 US9407422W WO9501279A1 WO 1995001279 A1 WO1995001279 A1 WO 1995001279A1 US 9407422 W US9407422 W US 9407422W WO 9501279 A1 WO9501279 A1 WO 9501279A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rotor
- touchdown
- conical
- mating surfaces
- gimbal housing
- Prior art date
Links
Classifications
-
- 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
- B64G1/32—Guiding or controlling apparatus, e.g. for attitude control using earth's magnetic field
-
- 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)
-
- 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
- G01C19/26—Caging, i.e. immobilising moving parts, e.g. for transport
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/12—Gyroscopes
- Y10T74/1204—Gyroscopes with caging or parking means
Definitions
- the present invention relates to magnetically suspended control moment gyroscopes. More particularly, the present invention pertains to an apparatus for providing launch-lock and touchdown functions for a magnetically suspended control moment gyroscope.
- Control moment gyroscopes provide directional control for a variety of orbiting vehicles, for example, spacecraft.
- Control moment gyroscopes normally include a motor for spinning the rotor about a rotor axis, a gimbal wherein the rotor is supported or suspended, a gimbal torque motor for rotating the gimbal about a gimbal axis, and a control system.
- the control moment gyroscope is fixedly mounted to the orbiting vehicle.
- the rotor is spun about the rotor axis at a predetermined rate.
- the gimbal torque motor rotates the gimbal and spinning rotor about the gimbal axis which is perpendicular to the rotor axis.
- the rotor is of sufficient mass and is spinning at a rate such that any movement of the rotor outside its plane of rotation will induce a significant torque about an output axis which is normal to both the rotor axis and the gimbal axis. This torque is applied to the orbiting vehicle for providing directional control thereof.
- Magnetically suspended rotors within the control moment gyroscopes are utilized to overcome mechanical disturbance problems and short-life problems associated with a mechanically supported rotor.
- the magnetic suspension system within the control moment gyroscope utilizes various magnetic actuators to levitate the rotor within the gimbal.
- Any magnetically suspended control moment gyroscope must have a back-up system in case the magnetic suspension system fails.
- this back-up system also referred to as a touchdown system, takes the form of mechanical bearings for supporting the rotor. This touchdown system prevents damage to the various magnetic actuators levitating the rotor and other components in the event of power loss or magnetic suspension system failure by preventing contact between the rotor and the various magnetic actuators.
- One common touchdown system consists of a mechanical radial bearing coupled to the gimbal of the control moment gyroscope and through which a shaft member extends from the rotor. Adequate clearance is provided between the shaft and the radial bearing inner diameter to allow for normal function of the magnetic suspension system. Should the magnetic suspension system fail to operate, the shaft contacts the inner diameter of the radial bearing before the rotor contacts the magnetic actuators, thus preventing damage to the magnetic actuators. An axial thrust bearing is added to the radial bearing to prevent excess axial excursions.
- a launch-lock system is necessary during launch of an orbiting vehicle.
- the magnetic suspension system When the magnetic suspension system is not energized during launch, normal operating clearances provide an unacceptable opportunity for the magnetically suspended rotor within the gimbal to move or rattle about therein. Allowing the rotor to move or rattle about within the control moment gyroscope leads to high-impact loads thereon and damage thereto during launch vibration.
- the rotor if the magnetic suspension system failed during operation, the rotor would be free to move or rattle about within the control moment gyroscope for the remainder of the mission of the orbiting vehicle. Such movement and rattling about causes significant shock and vibration whenever the orbiting vehicle moves. Therefore, in addition to a touchdown system for preventing damage to magnetic actuators in the event of power loss or other magnetic suspension system failures, a launch-lock system is required to support the rotor during launch and during operation if the magnetic suspension system fails.
- the present invention is directed to a magnetically suspended control moment gyroscope.
- the control moment gyroscope includes a rotor extending along a rotor axis.
- the rotor has a first and second rotor end.
- a gimbal housing including a magnetic suspension system suspends the rotor within the gimbal housing to allow rotation of the rotor about the rotor axis.
- a first and second clutch positioned adjacent the first and second rotor end, respectively, and connected to the gimbal housing couples the rotor to the gimbal housing if the magnetic suspension system is inoperative.
- the control moment gyroscope further includes an apparatus for forcing the coupling of the rotor to the gimbal housing.
- each of the first and second clutches include a male conical surface coupled to the gimbal housing by bearings providing backup support for the rotor.
- Each of the male conical surfaces is sized for mating a female conical surface at the first and second end of the rotor, respectively.
- one of the clutches includes a bearing- cone assembly movably mounted to the gimbal housing and the other clutch includes a bearing-cone assembly fixedly mounted to the gimbal housing.
- the apparatus for forcing the coupling of the rotor to the gimbal housing includes an axial actuator for moving the movably mounted bearing-cone assembly along the rotor axis to force such coupling.
- the control moment gyroscope includes a rotor extending along a rotor axis. The rotor has a first and second rotor conical surface at a first and second rotor end thereof, respectively, coaxial with the rotor axis.
- a gimbal housing includes a magnetic suspension system for magnetically suspending the rotor therein to allow rotation of the rotor about the rotor axis.
- the gyroscope also includes first and second conical mating surfaces sized to mate with the first and second rotor conical surfaces, respectively.
- Bearings coupled to the gimbal housing support each of the conical mating surfaces so as to define a gap between the first and second rotor conical surfaces and the first and second conical mating surfaces, respectively, when the magnetic suspension system is operative allowing rotation of the rotor about the rotor axis.
- the bearings allow for rotation of the rotor and the conical mating surfaces supported by the bearings when the gap is eliminated by contact of the first and second rotor conical surfaces with the first and second conical mating surfaces, respectively.
- Figure 1 shows a perspective view in partial cross-section of a control moment gyroscope in accordance with the present invention.
- Figure 2 is a simplified cross-sectional view of the control moment gyroscope of
- FIG. 1 in accordance with the present invention.
- Figure 3 is a cross-section of a rotor of the control moment gyroscope of Figure 1.
- Figure 4 is a cross-section of a gimbal housing of the control moment gyroscope of Figure 1.
- Figure 5 is a cross-section of an assembled rotor and gimbal housing of the control moment gyroscope of Figure 1.
- control moment gyroscope 10 with touchdown and launch-lock system shall be described in accordance with the present invention.
- the control moment gyroscope 10 includes rotor 16 magnetically suspended within gimbal housing 12 for rotation about rotor axis 18.
- a gimbal torque motor (not shown) is directly attached to gimbal housing 12.
- a gimbal housing support frame (not shown) extends from the gimbal torque motor such that the gimbal housing 12 can rotate about gimbal axis 14.
- the rotor 16 is spun about rotor axis 18 at a predetermined rate.
- the rotor 16 is of sufficient mass and is spinning at such a rate that any movement of the rotor 16 out of its plane of rotation induces a significant torque about output axis 17, which is both normal to the rotor axis 18 and gimbal axis 14. Torque about the output axis 17 is transferred to the orbiting vehicle to which the control moment gyroscope 10 is mounted.
- control moment gyroscope 10 further includes a fixedly mounted conical clutch 24 and a movably mounted conical clutch 22.
- movably mounted conical clutch 22 includes a movably mounted bearing- cone assembly 34.
- the movably mounted bearing-cone assembly 34 includes a first touchdown mating surface 38 being of a male conical configuration sized for mating with a first rotor touchdown surface 30 at a first rotor end 26 of rotor 16; the first rotor touchdown surface 30 being of a female conical configuration positioned coaxial with and at a radial distance from the rotor axis 18.
- the first touchdown mating surface 38 is supported by bearings 40 of the bearing-cone assembly 34 and are movably coupled to gimbal housing 12.
- the movably mounted conical clutch 22 further includes a motor driven threaded actuator 44 for movably mounting the first touchdown mating surface 38 and bearings 40 to gimbal housing 12.
- the movably mounted conical clutch 22 allows the touchdown mating surface 38 and bearings 40 to be translated axially along rotor axis 18.
- Bearing-cone assembly 36 Fixedly mounted conical clutch 24 on the opposite end of gimbal housing 12 includes bearing-cone assembly 36.
- Bearing-cone assembly 36 includes a second touchdown mating surface 37 being of a male conical configuration sized for mating with a second rotor touchdown surface 32 positioned at a radial distance from and coaxial with rotor axis 18 at a second rotor end 28; the second rotor touchdown surface 32 being of a female conical configuration.
- the second touchdown mating surface 37 is supported by bearings 39 which are fixedly mounted to gimbal housing 12.
- FIG. 3 shows a cross-section of rotor 16.
- Rotor shell 80 mechanically supports all the components of rotor 16.
- a rotor shell rim 82 of rotor 16 encircles rotor shell 80 and supplies the majority of the mass for the rotor 16 to provide the majority of rotor angular momentum.
- the rim 82 is of sufficient size and density so as to provide sufficient momentum for making a directional change of an orbiting vehicle while the rotor 16 is spinning at a predetermined rate.
- Also attached to the rotor shell 80 is the rotor shaft 84 which connects the sides of the rotor shell 80.
- Armatures 86 and 88, motor rotor 90, and resolver rotor 92 encircle the rotor shaft 84 and are all made of magnetically permeable material through which a magnetic field generated by various actuators act.
- the upper and lower translational magnetic armatures 95,96, respectively, are mounted at opposite ends of the rotor shaft 84 and are also constructed of magnetic permeable material.
- the first and second rotor touchdown surfaces 30,32 of a female conical configuration are positioned at a predetermined distance from and coaxial with rotor axis 18 and connected to the rotor shell 80.
- Gap sensor surfaces 94 extend outward from rotor shell 80 and are utilized by gap sensor 98 of gimbal housing 12.
- FIG. 4 shows a cross-section of gimbal housing 12 in which rotor 16 is positioned.
- Gimbal housing 12 includes gimbal shell 56 for supporting a magnetic actuation system thereof which magnetically suspends rotor 16 therein when the magnetic suspension system is operative.
- the gimbal shell 56 is encircled by gimbal housing ring 58 sized to correspond with rotor shell rim 82.
- Translational actuator 60 is positioned at a first end of the gimbal shell 56 and at a second end of the gimbal shell 56 is positioned translational actuator 62.
- the translational actuators 62, 60 create a magnetic field which acts to provide suspension support for the rotor along the rotor axis 18.
- actuators 64 which provide rotor suspension and gyroscope torque generation.
- the actuators 64 are housed and supported within actuator housing 57 and 61, connected to gimbal shell 56.
- Motor stator 68 and resolver stator 70, components of the DC brushless motor which induce a spin on the rotor 16 about the rotor axis 18, are also positioned at the first end of gimbal shell 56.
- Fixedly mounted to gimbal housing 12 at the first end of the gimbal housing shell 56 is bearing-cone assembly 36 and at the second end of the shell 56 bearing cone assembly 34 is movably mounted to gimbal housing 12.
- Gap sensors 98 function with gap sensor surfaces 94 of rotor 16 to measure displacement of the rotor 16 relative to the various actuators of gimbal housing 12 for feedback to a rotor position control.
- actuators 64 form a ring around armature 86 and around armature 88.
- the armatures 86,88 are aligned to rotate within the rings created by the actuators 64.
- the motor rotor 90 is aligned with the motor stator 68 and the resolver rotor 92 is aligned with the resolver stator 70.
- the translational magnetic armatures 94, 96 are aligned with the translational actuators 60,62, respectively.
- the operation of the various magnetic actuators can be best understood by study of U.S. Patent #4,642,501 to Krai, et al., entirely incorporated herein by reference thereto.
- the translational actuators 60,62, and actuators 64 create a magnetic field which suspends the rotor assembly along the rotor axis 18 so that the rotor 16 does not contact the interior of gimbal housing 12.
- the brushless DC motor spins the rotor 16 inside the gimbal housing 12 about the rotor axis 18.
- the gap sensors 98 in conjunction with gap sensor surfaces 94 constantly monitor the position of the rotor 16. If the rotor 16 begins to drift towards any of the interior surfaces of the gimbal housing 12, the gap sensors 98 will detect this and the various magnetic actuators will compensate by varying the field strength.
- rotor 16 In normal operation, rotor 16 is suspended by the magnetic field generated by the various actuators.
- a gap 42 Figure 2 exists between first male conical touchdown mating surface 38 and first female conical touchdown surface 30 and a gap 43 exists between second male conical touchdown mating surface 37 and second female conical touchdown surface 32.
- the gaps 42, 43 are sufficient to allow the rotor 16 to move and rotate within the operational range of the magnetic suspension system of gimbal housing 12. If the magnetic suspension system fails or loads are applied to it that are beyond its capacity, the rotor 16 will traverse the gaps 42, 43 and the first and second touchdown mating surfaces 38, 37 will contact first and second touchdown surfaces 30,32, respectively.
- the first and second touchdown mating surfaces 38,37 that are supported by bearings 40,39, respectively, are accelerated to the speed of the rotor 16 and provide support of the rotor 16 such that contact between the rotor 16 and the various actuators is prevented.
- the rate of acceleration is dependent on the drag torque of the bearings 40,39, the mass inertia of the bearing-cone assemblies 36,34, the friction coefficient between the first and second touchdown mating surfaces 38,37 and the first and second touchdown surfaces 30,32, respectively, and the contact force thereof.
- the rate of acceleration is dependent on the drag torque of the bearings 40,39, the mass inertia of the bearing-cone assemblies 36,34, the friction coefficient between the first and second touchdown mating surfaces 38,37 and the first and second touchdown surfaces 30,32, respectively, and the contact force thereof.
- first and second rotor touchdown surfaces 30, 32 may include the material titanium nitride coated 440C when the first and second touchdown mating surfaces, 38,37 are of bare 440C or rotor touchdown surfaces 30,32 may be of Nitronic 60 when touchdown mating surfaces 38,37 are of bare 440C.
- Other combinations of surface materials may be adequate and the present invention is not limited to those listed.
- the angle of the conical surfaces of the first and second rotor touchdown surfaces 30,32 and first and second mating surfaces 38,37 are selected based on clearance requirements for the various actuators.
- the amount of force required to disengage and engage the launch-lock system, to be described further below, are two particular considerations when selecting such angles.
- Bearings 40,39 are duplexed pairs of angular contact ball bearings.
- the bearings utilized include large thin-section bearings to provide adequate load capacity.
- Silicone nitride (SiN) balls are utilized because of their low mass to minimize skidding during acceleration of the touchdown mating surfaces 37,38.
- Other bearing types, such as tapered and spherical rolling bearings may be utilized; the present invention not being limited to those listed.
- Rheolube 2000 grease is utilized for the lubricant because of its low vapor pressure and low drag torque, although other lubricants may be adequate.
- the movably mounted conical clutch 22 and fixedly mounted clutch 24 perform the touchdown function preventing contact of the rotor 16 with the various actuators should the magnetic suspension system of the gimbal housing 12 fail or loads are applied which are beyond its capacity.
- the fixedly mounted conical clutch 24 and movably mounted conical clutch 22 perform a launch-lock feature during launch and other times when the magnetic suspension system is inoperative for some period of time.
- the conical clutch 24 including bearing-cone assembly 36 is solidly mounted to the gimbal housing 12 with the bearing 39 coupling the touchdown mating surface 37 thereto.
- the movably mounted bearing-cone assembly 34 of conical clutch 22 is mounted to a shaft-like member 51 of gimbal housing 12.
- the movably mounted bearing-cone assembly 34 can then be translated axially by motor driven threaded actuator 44 until the rotor 16 is captured between the fixedly mounted bearing-cone assembly 36 and movably mounted bearing-cone assembly 34.
- the rotor 16 is then allowed to rotate about rotor axis 16 being supported through bearings 40,39 of gimbal housing 12.
- the axial actuation to move the movably mounted bearing-cone assembly 34 axially along rotor axis 18 is accomplished by motor driven threaded actuator 44.
- the present invention is not limited to such means of axial actuation as others may adequately perform this function such as an electromagnetic linear actuator, hydraulic or pneumatic actuator, parrafin linear actuator, or a memory metal actuator.
- the motor driven threaded actuator 44 consists of multi-pass gear drive motor 46 driving a planetary gear 48.
- the inboard end of the movably mounted bearing-cone assembly 34 interfaces with shaft-like member 51 of the gimbal housing 12 through threaded surfaces 50.
- the motor 46 turns the planetary gear 48, the bearing-cone assembly 34 is moved along the rotor axis 18 by the threaded surfaces 50 to provide the launch-lock function when desired.
- the touchdown system is designed to function with the launch-lock system completely disengaged.
- the launch-lock system is, therefore, functionally independent of the touchdown system and thus devoid of time constraints.
- the motor 46 is selected on the basis of output torque required to translate the movably mounted bearing-cone assembly 34 axially with the rotor 16 in any orientation. In a gravity field, resisting this translation is the weight of the rotor 16 acting through the friction in the motor driven threaded actuator 44 and the interface between the first and second touchdown mating surfaces 38,37 and first and second touchdown surfaces 30,32.
- the locking of the rotor during launch or when the magnetic suspension system fails prevents the rotor 16 from moving or rattling about within the gimbal housing preventing high-impact loads thereon and damage thereto.
Abstract
A control moment gyroscope (10) including a rotor (16) extending along a rotor axis (18). The rotor includes a first and second rotor end. A gimbal housing (12) includes a magnetic suspension system for magnetically suspending the rotor (16) within the gimbal housing (12) to allow rotation of the rotor about the rotor axis. A first and second conical clutch (22, 24) positioned adjacent to the first and second rotor end, respectively, and connected to the gimbal housing couples the rotor to the gimbal housing if the magnetic suspension system is inoperative. The gyroscope (10) also includes an apparatus for forcing the first and second clutches (22, 24) to couple the rotor (16) to the gimbal housing (12).
Description
TOUCHDOWN AND LAUNCH-LOCK APPARATUS FOR MAGNETICALLY SUSPENDED CONTROL MOMENT GYROSCOPE
FIELD OF THE INVENTION
The present invention relates to magnetically suspended control moment gyroscopes. More particularly, the present invention pertains to an apparatus for providing launch-lock and touchdown functions for a magnetically suspended control moment gyroscope.
BACKGROUND OF THE INVENTION Control moment gyroscopes provide directional control for a variety of orbiting vehicles, for example, spacecraft. Control moment gyroscopes normally include a motor for spinning the rotor about a rotor axis, a gimbal wherein the rotor is supported or suspended, a gimbal torque motor for rotating the gimbal about a gimbal axis, and a control system. The control moment gyroscope is fixedly mounted to the orbiting vehicle. During operation of the control moment gyroscope with the rotor either mechanically supported by bearings or magnetically suspended within the gimbal, the rotor is spun about the rotor axis at a predetermined rate. The gimbal torque motor rotates the gimbal and spinning rotor about the gimbal axis which is perpendicular to the rotor axis. The rotor is of sufficient mass and is spinning at a rate such that any movement of the rotor outside its plane of rotation will induce a significant torque about an output axis which is normal to both the rotor axis and the gimbal axis. This torque is applied to the orbiting vehicle for providing directional control thereof.
Magnetically suspended rotors within the control moment gyroscopes are utilized to overcome mechanical disturbance problems and short-life problems associated with a mechanically supported rotor. The magnetic suspension system within the control moment gyroscope utilizes various magnetic actuators to levitate the rotor within the gimbal. Any magnetically suspended control moment gyroscope must have a back-up system in case the magnetic suspension system fails. Generally, this back-up system, also referred to as a touchdown system, takes the form of mechanical bearings for supporting the rotor. This touchdown system prevents damage to the various magnetic actuators levitating the rotor and other components in the event of power loss or magnetic suspension system failure by preventing contact between the rotor and the various magnetic actuators.
One common touchdown system consists of a mechanical radial bearing coupled to the gimbal of the control moment gyroscope and through which a shaft member extends from the rotor. Adequate clearance is provided between the shaft and the radial bearing inner diameter to allow for normal function of the magnetic suspension system. Should the magnetic suspension system fail to operate, the shaft contacts the inner diameter of the radial bearing before the rotor contacts the magnetic actuators, thus preventing damage to the magnetic actuators. An axial thrust bearing is added to the radial bearing to prevent excess axial excursions.
In addition to a touchdown system for preventing damage to the magnetic actuators in the event of an inoperative magnetic suspension system, a launch-lock system is necessary during launch of an orbiting vehicle. When the magnetic suspension system is not energized during launch, normal operating clearances provide an unacceptable opportunity for the magnetically suspended rotor within the gimbal to move or rattle about therein. Allowing the rotor to move or rattle about within the control moment gyroscope leads to high-impact loads thereon and damage thereto during launch vibration. In addition, if the magnetic suspension system failed during operation, the rotor would be free to move or rattle about within the control moment gyroscope for the remainder of the mission of the orbiting vehicle. Such movement and rattling about causes significant shock and vibration whenever the orbiting vehicle moves. Therefore, in addition to a touchdown system for preventing damage to magnetic actuators in the event of power loss or other magnetic suspension system failures, a launch-lock system is required to support the rotor during launch and during operation if the magnetic suspension system fails.
Most mechanically supported control moment gyroscopes take the launch vibration loads through bearings supporting the spinning rotor and therefore do not require a separate launch-lock system. When launch-lock systems are used, they usually take the form of a device that clamps hardware to a structural member by means of an actuator. Common actuators used for such clamping function include pyrotechnics, paraffin actuators, solenoids, and motors. Such common launch-lock techniques would be heavy and complex when utilized with a magnetically suspended control moment gyroscope wherein the rotor is quite massive in order to provide a large torque output.
A need is present for innovative touchdown systems and launch-lock systems in order to save weight and complexity. In addition, a system for integrating the touchdown system and the launch-lock system for saving weight and complexity within the control moment gyroscope is apparent. SUMMARY OF THE INVENTION
The present invention is directed to a magnetically suspended control moment gyroscope. The control moment gyroscope includes a rotor extending along a rotor axis. The rotor has a first and second rotor end. A gimbal housing including a magnetic suspension system suspends the rotor within the gimbal housing to allow rotation of the rotor about the rotor axis. A first and second clutch positioned adjacent the first and second rotor end, respectively, and connected to the gimbal housing couples the rotor to the gimbal housing if the magnetic suspension system is inoperative. The control moment gyroscope further includes an apparatus for forcing the coupling of the rotor to the gimbal housing. In one embodiment of the invention, each of the first and second clutches include a male conical surface coupled to the gimbal housing by bearings providing backup support for the rotor. Each of the male conical surfaces is sized for mating a female conical surface at the first and second end of the rotor, respectively.
In another embodiment of the invention, one of the clutches includes a bearing- cone assembly movably mounted to the gimbal housing and the other clutch includes a bearing-cone assembly fixedly mounted to the gimbal housing. The apparatus for forcing the coupling of the rotor to the gimbal housing includes an axial actuator for moving the movably mounted bearing-cone assembly along the rotor axis to force such coupling. In yet another embodiment of the invention, the control moment gyroscope includes a rotor extending along a rotor axis. The rotor has a first and second rotor conical surface at a first and second rotor end thereof, respectively, coaxial with the rotor axis. A gimbal housing includes a magnetic suspension system for magnetically suspending the rotor therein to allow rotation of the rotor about the rotor axis. The gyroscope also includes first and second conical mating surfaces sized to mate with the first and second rotor conical surfaces, respectively. Bearings coupled to the gimbal housing support each of the conical mating surfaces so as to define a gap between the
first and second rotor conical surfaces and the first and second conical mating surfaces, respectively, when the magnetic suspension system is operative allowing rotation of the rotor about the rotor axis. The bearings allow for rotation of the rotor and the conical mating surfaces supported by the bearings when the gap is eliminated by contact of the first and second rotor conical surfaces with the first and second conical mating surfaces, respectively.
BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 shows a perspective view in partial cross-section of a control moment gyroscope in accordance with the present invention. Figure 2 is a simplified cross-sectional view of the control moment gyroscope of
Figure 1 in accordance with the present invention.
Figure 3 is a cross-section of a rotor of the control moment gyroscope of Figure 1.
Figure 4 is a cross-section of a gimbal housing of the control moment gyroscope of Figure 1.
Figure 5 is a cross-section of an assembled rotor and gimbal housing of the control moment gyroscope of Figure 1.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT With reference to Figures 1-5, control moment gyroscope 10 with touchdown and launch-lock system shall be described in accordance with the present invention.
The control moment gyroscope 10 includes rotor 16 magnetically suspended within gimbal housing 12 for rotation about rotor axis 18. A gimbal torque motor (not shown) is directly attached to gimbal housing 12. A gimbal housing support frame (not shown) extends from the gimbal torque motor such that the gimbal housing 12 can rotate about gimbal axis 14. During operation of the control moment gyroscope 10, the rotor 16 is spun about rotor axis 18 at a predetermined rate. The rotor 16 is of sufficient mass and is spinning at such a rate that any movement of the rotor 16 out of its plane of rotation induces a significant torque about output axis 17, which is both normal to the rotor axis 18 and gimbal axis 14. Torque about the output axis 17 is transferred to the orbiting vehicle to which the control moment gyroscope 10 is mounted.
To provide touchdown and launch-lock functions for the magnetically suspended control moment gyroscope 10, the control moment gyroscope 10 further includes a
fixedly mounted conical clutch 24 and a movably mounted conical clutch 22. As shown in Figure 2, movably mounted conical clutch 22 includes a movably mounted bearing- cone assembly 34. The movably mounted bearing-cone assembly 34 includes a first touchdown mating surface 38 being of a male conical configuration sized for mating with a first rotor touchdown surface 30 at a first rotor end 26 of rotor 16; the first rotor touchdown surface 30 being of a female conical configuration positioned coaxial with and at a radial distance from the rotor axis 18. The first touchdown mating surface 38 is supported by bearings 40 of the bearing-cone assembly 34 and are movably coupled to gimbal housing 12. The movably mounted conical clutch 22 further includes a motor driven threaded actuator 44 for movably mounting the first touchdown mating surface 38 and bearings 40 to gimbal housing 12. The movably mounted conical clutch 22 allows the touchdown mating surface 38 and bearings 40 to be translated axially along rotor axis 18.
Fixedly mounted conical clutch 24 on the opposite end of gimbal housing 12 includes bearing-cone assembly 36. Bearing-cone assembly 36 includes a second touchdown mating surface 37 being of a male conical configuration sized for mating with a second rotor touchdown surface 32 positioned at a radial distance from and coaxial with rotor axis 18 at a second rotor end 28; the second rotor touchdown surface 32 being of a female conical configuration. The second touchdown mating surface 37 is supported by bearings 39 which are fixedly mounted to gimbal housing 12.
Figure 3 shows a cross-section of rotor 16. Rotor shell 80 mechanically supports all the components of rotor 16. A rotor shell rim 82 of rotor 16 encircles rotor shell 80 and supplies the majority of the mass for the rotor 16 to provide the majority of rotor angular momentum. The rim 82 is of sufficient size and density so as to provide sufficient momentum for making a directional change of an orbiting vehicle while the rotor 16 is spinning at a predetermined rate. Also attached to the rotor shell 80 is the rotor shaft 84 which connects the sides of the rotor shell 80. Armatures 86 and 88, motor rotor 90, and resolver rotor 92 encircle the rotor shaft 84 and are all made of magnetically permeable material through which a magnetic field generated by various actuators act. The upper and lower translational magnetic armatures 95,96, respectively, are mounted at opposite ends of the rotor shaft 84 and are also constructed of magnetic permeable material. The first and second rotor touchdown surfaces 30,32 of a female
conical configuration are positioned at a predetermined distance from and coaxial with rotor axis 18 and connected to the rotor shell 80. Gap sensor surfaces 94 extend outward from rotor shell 80 and are utilized by gap sensor 98 of gimbal housing 12. Figure 4 shows a cross-section of gimbal housing 12 in which rotor 16 is positioned. Gimbal housing 12 includes gimbal shell 56 for supporting a magnetic actuation system thereof which magnetically suspends rotor 16 therein when the magnetic suspension system is operative. The gimbal shell 56 is encircled by gimbal housing ring 58 sized to correspond with rotor shell rim 82. Translational actuator 60 is positioned at a first end of the gimbal shell 56 and at a second end of the gimbal shell 56 is positioned translational actuator 62. The translational actuators 62, 60 create a magnetic field which acts to provide suspension support for the rotor along the rotor axis 18. Also located at the first and second end of the gimbal shell 56 are actuators 64 which provide rotor suspension and gyroscope torque generation. The actuators 64 are housed and supported within actuator housing 57 and 61, connected to gimbal shell 56. Motor stator 68 and resolver stator 70, components of the DC brushless motor which induce a spin on the rotor 16 about the rotor axis 18, are also positioned at the first end of gimbal shell 56. Fixedly mounted to gimbal housing 12 at the first end of the gimbal housing shell 56 is bearing-cone assembly 36 and at the second end of the shell 56 bearing cone assembly 34 is movably mounted to gimbal housing 12. Gap sensors 98 function with gap sensor surfaces 94 of rotor 16 to measure displacement of the rotor 16 relative to the various actuators of gimbal housing 12 for feedback to a rotor position control.
As shown in the assembled control moment gyroscope 10, Figure 5, actuators 64 form a ring around armature 86 and around armature 88. The armatures 86,88 are aligned to rotate within the rings created by the actuators 64. The motor rotor 90 is aligned with the motor stator 68 and the resolver rotor 92 is aligned with the resolver stator 70. The translational magnetic armatures 94, 96 are aligned with the translational actuators 60,62, respectively.
The operation of the various magnetic actuators can be best understood by study of U.S. Patent #4,642,501 to Krai, et al., entirely incorporated herein by reference thereto. In the control moment gyroscope 10, the translational actuators 60,62, and actuators 64 create a magnetic field which suspends the rotor assembly along the rotor
axis 18 so that the rotor 16 does not contact the interior of gimbal housing 12. The brushless DC motor spins the rotor 16 inside the gimbal housing 12 about the rotor axis 18. The gap sensors 98 in conjunction with gap sensor surfaces 94 constantly monitor the position of the rotor 16. If the rotor 16 begins to drift towards any of the interior surfaces of the gimbal housing 12, the gap sensors 98 will detect this and the various magnetic actuators will compensate by varying the field strength.
In normal operation, rotor 16 is suspended by the magnetic field generated by the various actuators. When suspended, a gap 42, Figure 2, exists between first male conical touchdown mating surface 38 and first female conical touchdown surface 30 and a gap 43 exists between second male conical touchdown mating surface 37 and second female conical touchdown surface 32. The gaps 42, 43 are sufficient to allow the rotor 16 to move and rotate within the operational range of the magnetic suspension system of gimbal housing 12. If the magnetic suspension system fails or loads are applied to it that are beyond its capacity, the rotor 16 will traverse the gaps 42, 43 and the first and second touchdown mating surfaces 38, 37 will contact first and second touchdown surfaces 30,32, respectively. When contact occurs providing the touchdown function, the first and second touchdown mating surfaces 38,37 that are supported by bearings 40,39, respectively, are accelerated to the speed of the rotor 16 and provide support of the rotor 16 such that contact between the rotor 16 and the various actuators is prevented.
The rate of acceleration is dependent on the drag torque of the bearings 40,39, the mass inertia of the bearing-cone assemblies 36,34, the friction coefficient between the first and second touchdown mating surfaces 38,37 and the first and second touchdown surfaces 30,32, respectively, and the contact force thereof. Between the time that initial contact of the first and second touchdown mating surfaces 38,37 with the first and second touchdown surfaces 30,32 is made and the time that the surfaces and bearings are at the same speed as the rotor 16, sliding occurs between the surfaces. Such sliding produces wear on the surfaces. One of the effects of wear is that the static or dynamic balance of the rotor 16 may be affected by the removal of material from or the addition of material to the first and second touchdown surfaces 30,32 of rotor 16. In addition, excess wear produces debris that must be contained.
To reduce wear such that a minimum rotor weight change and minimum debris is generated during an occurrence of a touchdown or contact between first and second rotor touchdown surfaces 30, 32 and first and second touchdown mating surfaces 38,37, respectively, certain materials for the surfaces are selected. The first and second rotor touchdown surfaces 30, 32 may include the material titanium nitride coated 440C when the first and second touchdown mating surfaces, 38,37 are of bare 440C or rotor touchdown surfaces 30,32 may be of Nitronic 60 when touchdown mating surfaces 38,37 are of bare 440C. Other combinations of surface materials may be adequate and the present invention is not limited to those listed. The angle of the conical surfaces of the first and second rotor touchdown surfaces 30,32 and first and second mating surfaces 38,37 are selected based on clearance requirements for the various actuators. The amount of force required to disengage and engage the launch-lock system, to be described further below, are two particular considerations when selecting such angles. Bearings 40,39 are duplexed pairs of angular contact ball bearings. The bearings utilized include large thin-section bearings to provide adequate load capacity. Silicone nitride (SiN) balls are utilized because of their low mass to minimize skidding during acceleration of the touchdown mating surfaces 37,38. Other bearing types, such as tapered and spherical rolling bearings may be utilized; the present invention not being limited to those listed. Rheolube 2000 grease is utilized for the lubricant because of its low vapor pressure and low drag torque, although other lubricants may be adequate.
As described above, the movably mounted conical clutch 22 and fixedly mounted clutch 24 perform the touchdown function preventing contact of the rotor 16 with the various actuators should the magnetic suspension system of the gimbal housing 12 fail or loads are applied which are beyond its capacity. In addition to serving the touchdown function, the fixedly mounted conical clutch 24 and movably mounted conical clutch 22 perform a launch-lock feature during launch and other times when the magnetic suspension system is inoperative for some period of time. The conical clutch 24 including bearing-cone assembly 36 is solidly mounted to the gimbal housing 12 with the bearing 39 coupling the touchdown mating surface 37 thereto. The movably mounted bearing-cone assembly 34 of conical clutch 22 is mounted to a shaft-like member 51 of gimbal housing 12. The movably mounted bearing-cone assembly 34 can
then be translated axially by motor driven threaded actuator 44 until the rotor 16 is captured between the fixedly mounted bearing-cone assembly 36 and movably mounted bearing-cone assembly 34. The rotor 16 is then allowed to rotate about rotor axis 16 being supported through bearings 40,39 of gimbal housing 12. The axial actuation to move the movably mounted bearing-cone assembly 34 axially along rotor axis 18 is accomplished by motor driven threaded actuator 44. However, the present invention is not limited to such means of axial actuation as others may adequately perform this function such as an electromagnetic linear actuator, hydraulic or pneumatic actuator, parrafin linear actuator, or a memory metal actuator. The motor driven threaded actuator 44 consists of multi-pass gear drive motor 46 driving a planetary gear 48. The inboard end of the movably mounted bearing-cone assembly 34 interfaces with shaft-like member 51 of the gimbal housing 12 through threaded surfaces 50. As the motor 46 turns the planetary gear 48, the bearing-cone assembly 34 is moved along the rotor axis 18 by the threaded surfaces 50 to provide the launch-lock function when desired.
The touchdown system is designed to function with the launch-lock system completely disengaged. The launch-lock system is, therefore, functionally independent of the touchdown system and thus devoid of time constraints. The motor 46 is selected on the basis of output torque required to translate the movably mounted bearing-cone assembly 34 axially with the rotor 16 in any orientation. In a gravity field, resisting this translation is the weight of the rotor 16 acting through the friction in the motor driven threaded actuator 44 and the interface between the first and second touchdown mating surfaces 38,37 and first and second touchdown surfaces 30,32. The locking of the rotor during launch or when the magnetic suspension system fails prevents the rotor 16 from moving or rattling about within the gimbal housing preventing high-impact loads thereon and damage thereto. By combining the apparatus for the touchdown function with the apparatus for the launch-lock function, weight and complexity is also reduced.
Those skilled in the art will recognize that only preferred embodiments of the present invention have been disclosed herein, that other advantages may be found and realized, and that various modifications may be suggested by those versed in the art. It should be understood that the embodiment shown herein may be altered and modified
without departing from the true spirit and scope of the invention as defined in the accompanying claims.
Claims
1. A control moment gyroscope, comprising: a rotor extending along a rotor axis, said rotor having first and second rotor touchdown surfaces at first and second ends thereof, respectively; a gimbal housing including means for magnetically suspending said rotor therein to allow rotation of said rotor about said rotor axis; first and second touchdown mating surfaces to mate with said first and second rotor touchdown surfaces, respectively; bearing means coupled to said gimbal housing to support each of said touchdown mating surfaces so as to define a gap between said first and second touchdown surfaces and said first and second touchdown mating surfaces, respectively, when said magnetic suspension means is operative allowing for rotation of said rotor about said rotor axis, said bearing means for allowing said rotor and said touchdown mating surfaces supported thereby to rotate when said gap is eliminated by contact of said first and second rotor touchdown surfaces with said first and second touchdown mating surfaces, respectively; and means for forcing elimination of said gap.
2. A gyroscope according to Claim 1, wherein said first and second rotor touchdown surfaces include first and second conical surfaces, respectively, coaxial with said rotor axis at said first and second end of said rotor, respectively, and wherein said first and second touchdown mating surfaces include third and fourth conical surfaces sized to mate with said first and second conical surfaces, respectively.
3. A gyroscope according to Claim 2, wherein said first and second conical surfaces include female conical surfaces and said third and fourth conical surfaces include male conical surfaces for mating with said first and second female conical surfaces, respectively.
4. A gyroscope according to Claim 1, wherein at least one of said first and second touchdown mating surfaces supported by said bearings means is movably mounted to said gimbal housing, and wherein said forcing means includes axial actuation means for moving said at least one movably mounted touchdown mating surface to force said first and second rotor touchdown surfaces in contact with said first and second touchdown mating surfaces eliminating said gap.
5. A gyroscope according to Claim 1, wherein said first and second rotor touchdown surfaces include first and second female conical mating surfaces, respectively, coaxial with said rotor axis and wherein said first and second touchdown mating surfaces include first and second male conical mating surfaces, respectively, sized to mate with said first and second female conical mating surfaces, respectively, one of said male conical mating surfaces supported by said bearings being movably mounted to said gimbal housing, and wherein said forcing means includes axial actuation means for moving said movably mounted male conical mating surface to force said first and second male conical mating surfaces in contact with said first and second female conical surfaces, respectively, eliminating said gap therebetween.
6. A gyroscope according to Claim 4, wherein said axial actuation means includes a motor driven threaded actuator for translating axially said movably mounted touchdown mating surface along said rotor axis whereby when the first and second rotor touchdown surfaces are in contact with said first and second touchdown mating surfaces, respectively, said bearing means supporting said first and second touchdown mating surfaces allow said rotor to rotate about said rotor axis.
7. An apparatus according to Claim 5, wherein said axial actuation means includes a motor driven threaded actuator for translating axially said movably mounted male conical mating surfaces along said rotor axis whereby when said female and male conical mating surfaces are in contact said bearing means supporting the conical mating surfaces allow the rotor to rotate about said rotor axis.
8. A gyroscope according to Claim 2, wherein said bearing means include duplexed pairs of angular contact ball bearings.
9. A control moment gyroscope, comprising: a rotor extending along a rotor axis, said rotor having a first and second rotor end; a gimbal housing including means for magnetically suspending said rotor therein to allow rotation of said rotor about said rotor axis; first and second clutch means positioned adjacent said first and second rotor end, respectively, and connected to said gimbal housing for coupling said rotor to said gimbal housing if said magnetic suspension means is inoperative; and means for forcing said first and second clutch means to couple said rotor to said gimbal housing.
10. A gyroscope according to Claim 9, wherein each of said first and second clutch means include a male conical surface coupled to said gimbal housing by bearing means providing backup support for said rotor, each said male conical surface sized for mating a female conical surface at said first and second end of said rotor, respectively.
11. A gyroscope according to Claim 9, wherein one of said first and second clutch means includes a bearing-cone assembly movably mounted to said gimbal housing and said other clutch means being a bearing-cone assembly fixedly mounted to said gimbal housing, and wherein said forcing means includes axial actuation means for moving said movably mounted bearing-cone assembly along said rotor axis to force said coupling of said rotor to said gimbal housing.
12. A control moment gyroscope, comprising: a rotor extending along a rotor axis, said rotor having a first and second rotor conical surface at a first and second rotor end thereof, respectively, coaxial with said rotor axis, a gimbal housing including means for magnetically suspending said rotor therein to allow rotation of said rotor about said rotor axis; first and second conical mating surfaces sized to mate with said first and second rotor conical surfaces, respectively; bearing means coupled to said gimbal housing to support each of said conical mating surfaces so as to define a gap between said first and second rotor conical surfaces and said first and second conical mating surfaces, respectively, when said magnetic suspension means is operative allowing for rotation of said rotor about said rotor axis, said bearing means for allowing rotation of said rotor and said conical mating surfaces supported by said bearing means when said gap is eliminated by contact of said first and second rotor conical surfaces with said first and second conical mating surfaces, respectively.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/087,240 US5419212A (en) | 1993-07-02 | 1993-07-02 | Touchdown and launch-lock apparatus for magnetically suspended control moment gyroscope |
US08/087,240 | 1993-07-02 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1995001279A1 true WO1995001279A1 (en) | 1995-01-12 |
Family
ID=22203965
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US1994/007422 WO1995001279A1 (en) | 1993-07-02 | 1994-06-30 | Touchdown and launch-lock apparatus for magnetically suspended control moment gyroscope |
Country Status (2)
Country | Link |
---|---|
US (1) | US5419212A (en) |
WO (1) | WO1995001279A1 (en) |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2080701A1 (en) * | 2008-01-18 | 2009-07-22 | Honeywell International Inc. | Control moment gyroscope |
CN103089761A (en) * | 2012-12-26 | 2013-05-08 | 北京兴华机械厂 | Method and device for magnetic suspension control moment gyroscope repeatable locking |
CN104613951A (en) * | 2015-01-06 | 2015-05-13 | 中国人民解放军装备学院 | Magnetically suspended gyroscope adopting magnetic path decoupling design |
CN104613950A (en) * | 2015-01-06 | 2015-05-13 | 中国人民解放军装备学院 | Magnetically suspended control and sensing gyroscope |
CN104697509A (en) * | 2015-01-06 | 2015-06-10 | 中国人民解放军装备学院 | Magnetically suspended gyroscope for decoupling of seven-channel magnetic circuits |
CN105136132A (en) * | 2015-09-02 | 2015-12-09 | 中国人民解放军装备学院 | High-torque magnetic levitation control sensitive spinning top |
CN105438500A (en) * | 2015-11-20 | 2016-03-30 | 北京石油化工学院 | Outer rotor magnetic levitation conical spherical gyro flywheel |
CN107097978A (en) * | 2017-04-26 | 2017-08-29 | 北京航空航天大学 | A kind of magnetic suspension control torque gyroscope device |
CN109515755A (en) * | 2018-11-26 | 2019-03-26 | 北京航空航天大学 | A kind of five degree of freedom magnetic suspension control moment gyro of single framework |
CN113670288A (en) * | 2021-08-24 | 2021-11-19 | 北京航空航天大学 | Magnetic suspension rotor harmonic vibration suppression method based on multi-rate quasi-resonant controller |
CN113895654A (en) * | 2021-10-27 | 2022-01-07 | 北京航空航天大学宁波创新研究院 | Magnetic suspension inertia actuating mechanism locking device based on magnetostrictive shape memory structure |
Families Citing this family (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5588754A (en) * | 1995-12-29 | 1996-12-31 | United Technologies Automotive, Inc. | Backup bearings for extreme speed touch down applications |
US5818353A (en) * | 1996-04-29 | 1998-10-06 | Hughes Aircraft Company | Self leveling sensor/device package |
AU5021999A (en) * | 1998-07-23 | 2000-02-14 | Bristol Aerospace Limited | System and method for spacecraft attitude control |
US6566775B1 (en) * | 2000-01-10 | 2003-05-20 | Richard Benito Fradella | Minimal-loss flywheel battery and related elements |
US6524005B2 (en) | 2001-06-04 | 2003-02-25 | Honeywell International, Inc. | Touchdown bearing assembly with actuator ring assembly |
US7000308B2 (en) | 2002-01-31 | 2006-02-21 | Honeywell International Inc. | Method of constructing a rotor for a gyroscopic device |
US7051617B2 (en) * | 2002-06-03 | 2006-05-30 | Honeywell International Inc. | Methods and apparatus for tuned axial damping in rotating machinery with floating bearing cartridge |
US6834841B2 (en) * | 2002-07-03 | 2004-12-28 | Honeywell International Inc. | Method and system for decoupling structural modes to provide consistent control system performance |
US7197958B2 (en) * | 2003-08-27 | 2007-04-03 | Honeywell International, Inc. | Energy storage flywheel retention system and method |
CN100399218C (en) * | 2006-10-24 | 2008-07-02 | 北京航空航天大学 | Servo control system for quick response magnetic suspension control torque gyroscope frame |
CN100419379C (en) * | 2007-04-16 | 2008-09-17 | 北京航空航天大学 | Single end support type magnetic suspension control moment gyro of single framework |
CN100437031C (en) * | 2007-04-16 | 2008-11-26 | 北京航空航天大学 | Completely non - contacting magnetic suspension control moment gyro of single framework |
GB2449282B (en) * | 2007-05-17 | 2009-07-01 | Flybrid Systems Llp | High speed flywheel containment |
US8127631B2 (en) * | 2008-09-17 | 2012-03-06 | Honeywell International Inc. | Rotor assembly including strain relief feature |
KR101002399B1 (en) * | 2008-12-10 | 2010-12-21 | 한국항공우주연구원 | Control Moment Gyroscope |
US20100275705A1 (en) * | 2009-04-30 | 2010-11-04 | Honeywell International Inc. | Rotor assembly having integral damping member for deployment within momentum control device |
US7646178B1 (en) | 2009-05-08 | 2010-01-12 | Fradella Richard B | Broad-speed-range generator |
US8242649B2 (en) * | 2009-05-08 | 2012-08-14 | Fradella Richard B | Low-cost minimal-loss flywheel battery |
US10479531B2 (en) | 2010-08-24 | 2019-11-19 | Honeywell International Inc. | Shell rotor assembly for use in a control moment gyroscope and method of making the same |
CN102009597B (en) * | 2010-11-03 | 2012-11-14 | 北京航空航天大学 | Magnetically suspended control moment gyro gimbal and locking control system |
CN102620734B (en) * | 2012-04-09 | 2015-08-05 | 北京自动化控制设备研究所 | A kind of single-shaft-rotation modulation micro-mechanical inertial navigation method |
US10175065B2 (en) | 2016-02-02 | 2019-01-08 | Honeywell International Inc. | Near-zero revolutions per minute (RPM) sensing |
RU2645023C1 (en) * | 2016-10-24 | 2018-02-15 | Акционерное общество "Научно-производственный центр "Полюс" | Device for locking the rotor of the electric motor-flywheel in magnetic suspension |
CN107256042A (en) * | 2017-05-08 | 2017-10-17 | 中国船舶重工集团公司第七〇七研究所 | A kind of miniaturization angular-sensitive and control device that inertia type instrument is floated applied to liquid |
CN107813963B (en) * | 2017-10-16 | 2020-07-28 | 北京航空航天大学 | Single-frame control moment gyro with full-suspension double-end support |
CN109347284B (en) * | 2018-09-30 | 2020-09-22 | 清华大学 | Electrodynamic type magnetic suspension double-frame momentum sphere device |
US11794883B2 (en) * | 2020-04-20 | 2023-10-24 | Lockheed Martin Corporation | Vibration control assembly |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2257077A1 (en) * | 1974-01-03 | 1975-08-01 | Aerospatiale | Artificial moon inertia flywheel - has magnetic radial and axial centring mechanisms and damper also motor generator |
FR2452693A1 (en) * | 1979-03-30 | 1980-10-24 | Aerospatiale | TEMPORARY LOCKING DEVICE FOR FLYWHEEL |
EP0087628A1 (en) * | 1982-02-26 | 1983-09-07 | Mitsubishi Denki Kabushiki Kaisha | Magnetic bearing wheel for an artificial satellite |
US4466299A (en) * | 1964-11-23 | 1984-08-21 | General Motors Corporation | Gyro bearing assembly |
FR2549598A1 (en) * | 1983-07-19 | 1985-01-25 | Aerospatiale | MAGNETIC SUSPENSION KINETIC WHEEL ARRANGEMENT PROVIDED WITH MEANS FOR BLOCKING ITS ROTOR |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3742769A (en) * | 1971-03-25 | 1973-07-03 | Sperry Rand Corp | Gyroscope |
US3762226A (en) * | 1971-04-07 | 1973-10-02 | Sperry Rand Corp | Control moment gyroscope with integral torque control |
US3955858A (en) * | 1974-01-03 | 1976-05-11 | Societe Nationale Industrielle Aerospatiale | Satellite momentum wheel |
FR2384174A1 (en) * | 1977-03-15 | 1978-10-13 | Aerospatiale | INERTIA WHEEL |
US4167296A (en) * | 1977-12-30 | 1979-09-11 | Sperry Rand Corporation | Protective control system for magnetic suspension and magnetically suspended devices |
US4242917A (en) * | 1978-07-03 | 1981-01-06 | Sperry Corporation | Isolation flexure for gyroscopes |
DE3141841A1 (en) * | 1981-10-22 | 1983-05-05 | Brown, Boveri & Cie Ag, 6800 Mannheim | "CENTERING AND CATCHING DEVICE FOR CONTACTLESSLY BEARED ROTORS" |
US4642501A (en) * | 1985-10-15 | 1987-02-10 | Sperry Corporation | Magnetic suspension and pointing system with flux feedback linearization |
FR2619176B1 (en) * | 1987-08-05 | 1989-12-22 | Aerospatiale | DEVICE FOR TEMPORARY PERIPHERAL LOCKING OF A ROTOR RELATIVE TO A STATOR, FOR EXAMPLE OF A SATELLITE INERTIA WHEEL |
GB9103257D0 (en) * | 1991-02-15 | 1991-04-03 | Glacier Metal The Company Limi | A magnetic bearing-shaft assembly having a bearing to support the shaft in the event of failure of the magnetic bearing |
US5272403A (en) * | 1991-02-15 | 1993-12-21 | The Glacier Metal Company Limited | Low friction backup system for magnetic bearings |
-
1993
- 1993-07-02 US US08/087,240 patent/US5419212A/en not_active Expired - Fee Related
-
1994
- 1994-06-30 WO PCT/US1994/007422 patent/WO1995001279A1/en active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4466299A (en) * | 1964-11-23 | 1984-08-21 | General Motors Corporation | Gyro bearing assembly |
FR2257077A1 (en) * | 1974-01-03 | 1975-08-01 | Aerospatiale | Artificial moon inertia flywheel - has magnetic radial and axial centring mechanisms and damper also motor generator |
FR2452693A1 (en) * | 1979-03-30 | 1980-10-24 | Aerospatiale | TEMPORARY LOCKING DEVICE FOR FLYWHEEL |
EP0087628A1 (en) * | 1982-02-26 | 1983-09-07 | Mitsubishi Denki Kabushiki Kaisha | Magnetic bearing wheel for an artificial satellite |
FR2549598A1 (en) * | 1983-07-19 | 1985-01-25 | Aerospatiale | MAGNETIC SUSPENSION KINETIC WHEEL ARRANGEMENT PROVIDED WITH MEANS FOR BLOCKING ITS ROTOR |
Non-Patent Citations (2)
Title |
---|
GONDHALEKAR ET AL.: "LOW NOISE SPACECRAFT ATTITUDE CONTROL SYSTEMS", PROCEEDINGS OF THE 26TH INTERSOCIETY ENERGY CONVERSION ENGINEERING CONFERENCE, vol. 4, 9 August 1991 (1991-08-09), BOSTON (USA), pages 244 - 249 * |
O'DEA ET AL.: "DESIGN AND DEVELOPMENT OF A HIGH EFFICIENCY EFFECTOR FOR THE CONTROL OF ATTITUDE AND POWER IN SPACE SYSTEMS", PROCEEDINGS OF THE 20TH INTERSOCIETY ENERGY CONVERSION ENGINEERING CONFERENCE, vol. 2, August 1985 (1985-08-01), WARRENDALE (USA), pages 2353 - 2360 * |
Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8205514B2 (en) | 2008-01-18 | 2012-06-26 | Honeywell International Inc. | Control moment gyroscope |
EP2080701A1 (en) * | 2008-01-18 | 2009-07-22 | Honeywell International Inc. | Control moment gyroscope |
CN103089761A (en) * | 2012-12-26 | 2013-05-08 | 北京兴华机械厂 | Method and device for magnetic suspension control moment gyroscope repeatable locking |
CN103089761B (en) * | 2012-12-26 | 2015-08-19 | 北京兴华机械厂 | A kind of magnetic suspension control torque gyroscope can repeat locking method and device |
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 |
CN104613951A (en) * | 2015-01-06 | 2015-05-13 | 中国人民解放军装备学院 | Magnetically suspended gyroscope adopting magnetic path decoupling design |
CN104613950A (en) * | 2015-01-06 | 2015-05-13 | 中国人民解放军装备学院 | Magnetically suspended control and sensing gyroscope |
CN104697509A (en) * | 2015-01-06 | 2015-06-10 | 中国人民解放军装备学院 | Magnetically suspended gyroscope for decoupling of seven-channel magnetic circuits |
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 |
CN105136132A (en) * | 2015-09-02 | 2015-12-09 | 中国人民解放军装备学院 | High-torque magnetic levitation control sensitive spinning top |
CN105438500A (en) * | 2015-11-20 | 2016-03-30 | 北京石油化工学院 | Outer rotor magnetic levitation conical spherical gyro flywheel |
CN107097978A (en) * | 2017-04-26 | 2017-08-29 | 北京航空航天大学 | A kind of magnetic suspension control torque gyroscope device |
CN107097978B (en) * | 2017-04-26 | 2019-08-06 | 北京航空航天大学 | A kind of magnetic suspension control torque gyroscope device |
CN109515755A (en) * | 2018-11-26 | 2019-03-26 | 北京航空航天大学 | A kind of five degree of freedom magnetic suspension control moment gyro of single framework |
CN109515755B (en) * | 2018-11-26 | 2021-09-17 | 北京航空航天大学 | Five-freedom-degree single-frame magnetic suspension control moment gyroscope |
CN113670288A (en) * | 2021-08-24 | 2021-11-19 | 北京航空航天大学 | Magnetic suspension rotor harmonic vibration suppression method based on multi-rate quasi-resonant controller |
CN113670288B (en) * | 2021-08-24 | 2023-05-26 | 北京航空航天大学 | Magnetic suspension rotor harmonic vibration suppression method based on multi-rate quasi-resonance controller |
CN113895654A (en) * | 2021-10-27 | 2022-01-07 | 北京航空航天大学宁波创新研究院 | Magnetic suspension inertia actuating mechanism locking device based on magnetostrictive shape memory structure |
CN113895654B (en) * | 2021-10-27 | 2023-08-04 | 北京航空航天大学宁波创新研究院 | Magnetic suspension inertial actuating mechanism locking device based on magnetostriction shape memory structure |
Also Published As
Publication number | Publication date |
---|---|
US5419212A (en) | 1995-05-30 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US5419212A (en) | Touchdown and launch-lock apparatus for magnetically suspended control moment gyroscope | |
US5752774A (en) | Zero clearance auxiliary bearing for providing rotor shock tolerance | |
US7997157B2 (en) | Control moment gyroscope | |
US5739609A (en) | Magnetic bearing apparatus | |
US8283825B2 (en) | Auxiliary bearing system with plurality of inertia rings for magnetically supported rotor system | |
US7217039B2 (en) | Axial load-insensitive emergency bearing | |
US5836739A (en) | Gas turbine engine | |
US4672992A (en) | Direct drive valve-ball drive mechanism | |
JP2002502947A (en) | Flywheel battery device with active containment rotating in opposite direction | |
US4345485A (en) | Temporary locking device for inertia wheel | |
US9746027B2 (en) | Auxiliary bearing of the ball bearing type for a magnetically suspended rotor system | |
ZA200402008B (en) | Flywheel energy storage systems | |
US8760021B2 (en) | Centrifugally decoupling touchdown bearings | |
US6483216B2 (en) | Damper system and bearing centering device for magnetic bearing vacuum pump | |
US4309062A (en) | Bearing movement preventing system | |
US7240583B2 (en) | Dual function, highly damped, structurally and thermally compliant auxiliary bearing assembly | |
EP0614807B1 (en) | Improved reaction wheel assembly | |
US4103763A (en) | Braking device for drive motors | |
WO2016129436A1 (en) | Rear wheel steering device | |
CN107792397B (en) | Full non-contact double-frame magnetic suspension control moment gyroscope | |
EP3790804B1 (en) | Ruggedized reaction wheel for use on kinetically launched satellites | |
GB2069629A (en) | Rotor locking device | |
JP4318395B2 (en) | Method of operating a rotor having a magnetic bearing device | |
US5390554A (en) | Spacecraft component bearing | |
Nagabhushan | Development of control moment gyroscopes for attitude control of small satellites |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): RU |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): AT BE CH DE DK ES FR GB GR IE IT LU MC NL PT SE |
|
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
122 | Ep: pct application non-entry in european phase |