CN102810936A - Peripherally-actuated auxiliary moment generator for under-actuated system - Google Patents
Peripherally-actuated auxiliary moment generator for under-actuated system Download PDFInfo
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- CN102810936A CN102810936A CN2012102724441A CN201210272444A CN102810936A CN 102810936 A CN102810936 A CN 102810936A CN 2012102724441 A CN2012102724441 A CN 2012102724441A CN 201210272444 A CN201210272444 A CN 201210272444A CN 102810936 A CN102810936 A CN 102810936A
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Abstract
The invention discloses a peripherally-actuated auxiliary moment generator for an under-actuated system and belongs to electromagnetic moment type moment generators. The peripherally-actuated auxiliary moment generator for the under-actuated system is characterized by comprising a shell, a magnet set, an armature winding, a front end cover, a rear end cover, a motor, a motor support and a load, wherein the shell is in matched connection with the under-actuated system through a gear, a cam or an impeller. By the aid of the electromagnetic induction principle, the motor is used for actuating the armature winding to rotate in the magnetic field so as to generate the electromagnetic torque opposite to the motor actuating direction, and the magnet set is subjected to the reactive electromagnetic torque opposite to and as equal as the electromagnetic torque of the armature winding so as to provide required moment for the under-actuated system. Particularly, the moment provided by the device is in direct proportion to the velocity, so that control difficulty is remarkably reduced. The peripherally-actuated auxiliary moment generator for the under-actuated system is simple and reliable in design and clear in structure, can be applied to attitude adjustment of one-wheeled robots, satellites, space shuttles and missiles and can also be applied to the fields of overcoming of reactive torque of helicopters or butterfly air vehicles.
Description
Technical field
The present invention relates to the experimental provision of scientific research or teaching; Relate in particular to a kind of drive system periphery drive-type auxiliary torque generator of owing; This generator can be to be owed drive system required moment is provided, field such as be widely used in that the adjustment of one-wheel robot side direction attitude, one-wheel robot turn to, the attitude of satellite is adjusted, spacecraft attitude is adjusted, missile attitude adjustment, helicopter or butterfly aircraft main screw reaction torque overcome.
Background technology
Owe drive system owing to lack direct acting power or moment, control brings great difficulty, for example one-wheel robot to system; Owing to have only a wheel to contact with ground; And common wheel moves with front and back only, so side direction moment can not be provided, one-wheel robot turns in addition also needs moment; Satellite, spacecraft, guided missile etc. all need moment to drive in order to point to predetermined direction; Spacecraft and guided missile are generally through outwards ejection gas realization attitude adjustment in the prior art; Satellite adopts the inertial flywheel rotation to produce reaction wheel and magnetic torquer or fluid loop and realizes the attitude adjustment, and the despining moment of helicopter or butterfly aircraft main screw overcomes the rotation tail-rotor that uses with main oar quadrature and realizes.
Document " modeling of single wheel self-balance robot and Control Study " and " one-wheel robot attitude Control Study " disclose a kind of scheme of utilizing inertial flywheel control one-wheel robot lateral balance; Document " development of six degree of freedom one-wheel robot body and dynamic control method research " discloses the scheme of utilizing inertial flywheel control one-wheel robot to turn to; Inertial flywheel provides the mode of torque reaction also to be widely used in the attitude of satellite adjustment; But it is big to utilize inertial flywheel to provide reaction torque control attitude still to control difficulty through demonstration; This is because the reaction torque size that the inertial flywheel rotation provides is directly proportional with the rotary acceleration of flywheel; And motor is a rate servo system so realize the tracking of acceleration is difficult; When flywheel at the uniform velocity rotates, just do not have reaction torque to produce, and because the reaction torque size that the motor speed restriction provides is also limited.Patent of invention number be 200510111490.3 active magnetic control be main microsatellite attitude control method and system adopt with magnetic torquer initiatively magnetic control be main;, utilize coil current on earth magnetic field and the satellite to interact the torque adjustment attitude of satellite is provided as the satellite attitude stabilization platform in conjunction with the control system of gravity gradient boom and momenttum wheel bias stabilization; This and this patent disclosed utilizes permanent magnet and armature winding in magnetic field, to interact to produce countertorque has remarkable difference.Patent of invention number is that in pipeline, the flow angular momentum that produces of 200910152010.6 patent utilization liquid makes the attitude of satellite change and the disclosed galvanomagnetic effect adjustment attitude of satellite scheme of utilizing of this patent also has remarkable difference.The gas that supply to spray that it carries for spacecraft is limited after all, and disclosed by the inventionly utilizes electric energy to be converted into the mechanical energy scheme can to can be described as inexhaustible by applied solar energy.The present invention also can be missile attitude adjustment and the helicopter reaction torque overcomes the solution that provides new in addition.
Application number is respectively 200720037988.4 and 200820120359.2; Name is called the utility model patent of electromagnetic torque experiment instrument, utilizes article common in the life to make experiment equipment and accomplishes the electronic generation principle of electromagnetism, vortex flow acting principle, the generation effect of vortex flow, vortex flow and under the action of a magnetic field, produce moment and test; Publication number discloses a kind of mobile medical equipment castor that the electromagnetic torque balance motor is installed that utilizes for the patent of invention that the CN102529574A name is called mobile medical installation electromagnetical equalising torque friction castor, and the moment of friction that produces electromagnetic torque balance castor when this patent utilization castor rotates is to reduce personnel's thrust.The electromagnetic induction principle that the scheme of above patent and proposition of the present invention all is based on the Maxwell equation announcement proposes, but above patent is all having remarkable difference aspect the beneficial effect of technical field, technical scheme and generation.
Summary of the invention
In order required moment to be provided to owing drive system; And this moment is directly proportional with speed; Conveniently utilize motor to control; The present invention proposes a kind of drive system periphery drive-type auxiliary torque generator of owing, and can be widely used in the attitude adjustment of one-wheel robot, satellite, space shuttle and guided missile, also can be applicable to helicopter or the butterfly aircraft reaction torque overcomes.
A kind of drive system periphery drive-type auxiliary torque generator of owing, the present invention is characterised in that, comprising: shell 1, group of magnets 2, armature winding 3, front end housing 6, rear end cap 7, motor 8, motor cabinet 10, load 11, wherein
Group of magnets 2 is made up of four blocks of permanent magnets at least, and described permanent magnet symmetry stationary distribution is in described shell 1 inboard, and fixed connection, with the formation stationary magnetic field,
Armature winding 3 in the described shell of coaxial insertion 1 and fixing, has air gap between described group of magnets 2 and the armature winding 3, the load 11 that is connected in parallel of described armature winding 3,
The present invention can obtain following beneficial effect: the first, produce the electromagnetism countertorque be proportional to this rotating speed through the control motor speed, and this countertorque acts on owes drive system, makes easily to owe drive system and become full drive system, greatly reduces the control difficulty; Second; The present invention is with electromagnetical transmission device; Can realize two-stage electromagnetic formula speed change; Under housing diameter one stable condition through changing the functions such as electromagnetic torque realization speed change be directly proportional with speed, with compare through realization speed changes such as different big pinion interlocks have no dead band, advantages such as no mechanical loss and noiseless.
Description of drawings
A kind of drive system periphery drive-type auxiliary torque generator blast structural representation of owing of Fig. 1;
Fig. 2 is a kind of to owe axle geodesic structure sketch map such as drive system periphery drive-type auxiliary torque generator;
A kind of drive system periphery drive-type auxiliary torque generator left view of owing of Fig. 3;
A kind of drive system periphery drive-type auxiliary torque generator front view of owing of Fig. 4;
A kind of drive system periphery drive-type auxiliary torque generator force analysis figure that owes of Fig. 5;
Wherein: 1, shell, 2, group of magnets, 3, armature winding, 6, front end housing, 7, rear end cap, 8, motor, 10, motor cabinet, 11, load
Embodiment
Be further described for the present invention below in conjunction with accompanying drawing and embodiment.
The present invention adopts following technical scheme; With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, a kind of drive system periphery drive-type auxiliary torque generator of owing comprises: shell 1, group of magnets 2, armature winding 3, front end housing 6, rear end cap 7, motor 8, motor cabinet 10; Load 11, wherein
Group of magnets 2 is made up of four blocks of permanent magnets at least, and described permanent magnet symmetry stationary distribution is in described shell 1 inboard, and fixed connection, with the formation stationary magnetic field,
Armature winding 3 in the described shell of coaxial insertion 1 and fixing, has air gap between described group of magnets 2 and the armature winding 3, the load 11 that is connected in parallel of described armature winding 3,
A kind of drive system periphery drive-type auxiliary torque generator of owing, its characteristic also is: described shell 1 periphery is connecting one deck electromagnetic shielding material.
A kind of drive system periphery drive-type auxiliary torque generator of owing, its characteristic also is: the permanent magnet of described group of magnets 2 replaces with main pole core and excitation winding, to form magnetic field.
A kind of drive system periphery drive-type auxiliary torque generator of owing, load 11 also can be supply unit, for motor 8 provides part electric power, energy savings.
A kind of drive system periphery drive-type auxiliary torque generator of owing, 8 in 3 of armature winding and motor are connected through arc key is coaxial, and wherein arc number of keys can be for a plurality of, and perhaps the axle that is connected with motor 8 of armature winding 3 is for square identical with the axle of motor 8 just.
A kind of drive system periphery drive-type auxiliary torque generator of owing, the current opposite in direction of armature winding 3 under the group of magnets 2 every pair of magnetic pole.
A kind of drive system periphery drive-type auxiliary torque generator of owing; Motor 8 drives armature winding 3 and in magnetic field, rotates; Armature winding 3 cutting magnetic induction lines produce induced electromotive force; This induced electromotive force produces induced current when connecting the resistance even load in armature winding 3, and then armature winding 3 receives an electromagnetic torque τ reverse with the motor-driven direction
Em, simultaneously group of magnets 2 receive one with armature winding 3 grades reverse anti-electromagnetic torque τ greatly
Antiem, owing to shell is fixedly connected with group of magnets 2, so this anti-electromagnetic torque τ
AntiemBe delivered on the shell, again because shell with owe that drive system is coaxial to be fixedly connected or to pass through drive disk assembly such as gear, so this anti-electromagnetic torque τ
AntiemBe delivered to and owe on the drive system, for it provides required moment.
With reference to Fig. 5, when owing drive system when moment need be provided counterclockwise, being directly proportional with motor speed according to the moment size is that τ=kn counterplot is calculated motor speed; Drive motors is rotated counterclockwise with required rotating speed, and the armature winding cutting magnetic induction line forms induced electromotive force Ea; This induced electromotive force Ea is proportional to the armature winding rotation speed n; Because induced electromotive force is connected constant load R, so in armature winding, attempt induced current Ia, the clockwise direction electromagnetic torque τ that armature winding receives in magnetic field
Em, this electromagnetic torque is proportional to induced current Ia, big anticlockwise anti-electromagnetic torque τ such as receives simultaneously because the effect of power is all mutual group of magnets
Antiem, at this anti-electromagnetic torque τ
AntiemEffect down apparatus of the present invention with anticlockwise transmission of torque and act on and owe drive system.With owing drive system need clockwise moment be provided the time, it is the same that motor clockwise rotates force analysis, repeats no more.Owe the easy required moment of obtaining of drive system like this and rotate completion attitude adjustment task according to expectation around fixed point or dead axle.
Embodiment 4, and helicopter or butterfly aircraft reaction torque overcome.Apparatus of the present invention are loaded on helicopter or the butterfly aircraft fuselage, keep formed of rotation and the helicopter or the butterfly aircraft main screw rotating shaft parallel of armature winding during installation.Bow from above and to see helicopter or butterfly aircraft; When helicopter or butterfly aircraft main screw counterclockwise rotate; Because so conservation of angular momentum fuselage can receive a clockwise moment; Counterclockwise rotate so that countertorque counterclockwise to be provided for overcoming this moment drive motors, so just can be so that two moments are cancelled out each other, helicopter or butterfly aircraft just can not spin phenomenon.
Be noted that at last: above embodiment only be used to the present invention is described and and unrestricted technical scheme described in the invention; Therefore although this specification has carried out detailed explanation with reference to the foregoing description,, those of ordinary skill in the art should be appreciated that still and can make amendment or be equal to replacement the present invention; And all do not break away from the technical scheme and the improvement thereof of invention spirit and scope, all should be encompassed in the middle of the claim scope of the present invention.
Claims (1)
1. owe drive system periphery drive-type auxiliary torque generator for one kind; It is characterized in that; Comprise: shell (1), group of magnets (2), armature winding (3), front end housing (6), rear end cap (7), motor (8), motor cabinet (10), load (11), wherein
Shell (1); The periphery one is connecting Mechanical & Electrical Transmission parts; Described Mechanical & Electrical Transmission parts comprise in gear, cam or the impeller any; Owe drive system and be connected with being positioned at outside certain of described torquer, the described drive control component of owing comprises any one system to be driven in one-wheel robot, helicopter, butterfly aircraft, satellite, spacecraft, the guided missile at least
Group of magnets (2) is made up of four blocks of permanent magnets at least, and described permanent magnet symmetry stationary distribution is in described shell (1) inboard, and fixed connection, with the formation stationary magnetic field,
Armature winding (3) in the described shell of coaxial insertion (1) and fixing, has air gap between described group of magnets (2) and the armature winding (3), described armature winding (3) load (11) that is connected in parallel,
Front end housing (6), the center is provided with bearing groove, and to lay the bearing that is connected with described armature winding (3) front end coaxial rotation, described front end housing (6) is withheld at described shell (1) above the front port,
Rear end cap (7), the center is provided with bearing groove, and to lay the bearing that is connected with described armature winding (3) rear end coaxial rotation, described rear end cap (7) is withheld at described shell (1) above the rear port,
Motor (8) is fixed on the motor cabinet (10), and described motor cabinet (10) is fixedly connected on to be owed on the drive system, and the axle of described motor (8) is fixedly connected with arc key is coaxial with the axle of the armature winding that stretches out said front end housing (6) (3).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210272444.1A CN102810936B (en) | 2012-08-01 | 2012-08-01 | Peripherally-actuated auxiliary moment generator for under-actuated system |
| US13/689,731 US9148046B2 (en) | 2012-08-01 | 2012-11-29 | Method and device for torque generation based on electromagnetic effect |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210272444.1A CN102810936B (en) | 2012-08-01 | 2012-08-01 | Peripherally-actuated auxiliary moment generator for under-actuated system |
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| Publication Number | Publication Date |
|---|---|
| CN102810936A true CN102810936A (en) | 2012-12-05 |
| CN102810936B CN102810936B (en) | 2015-05-13 |
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| CN201210272444.1A Expired - Fee Related CN102810936B (en) | 2012-08-01 | 2012-08-01 | Peripherally-actuated auxiliary moment generator for under-actuated system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107438806A (en) * | 2015-03-31 | 2017-12-05 | 空中客车防务和空间公司 | Method and apparatus for being controlled to the posture of spacecraft |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999039426A1 (en) * | 1998-01-30 | 1999-08-05 | Schroedl Manfred | Electric machine |
| CN201478983U (en) * | 2009-06-22 | 2010-05-19 | 余亚莉 | Permanent magnetic coupling device of cylindrical transmission shaft |
| CN201611837U (en) * | 2010-01-04 | 2010-10-20 | 张隽超 | Automatic continuously variable transmission for cylindrical magnetic-induction type motor-driven transport device |
| CN102434467A (en) * | 2011-11-09 | 2012-05-02 | 上海电机学院 | Speed changing magnetic pump |
-
2012
- 2012-08-01 CN CN201210272444.1A patent/CN102810936B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999039426A1 (en) * | 1998-01-30 | 1999-08-05 | Schroedl Manfred | Electric machine |
| CN201478983U (en) * | 2009-06-22 | 2010-05-19 | 余亚莉 | Permanent magnetic coupling device of cylindrical transmission shaft |
| CN201611837U (en) * | 2010-01-04 | 2010-10-20 | 张隽超 | Automatic continuously variable transmission for cylindrical magnetic-induction type motor-driven transport device |
| CN102434467A (en) * | 2011-11-09 | 2012-05-02 | 上海电机学院 | Speed changing magnetic pump |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107438806A (en) * | 2015-03-31 | 2017-12-05 | 空中客车防务和空间公司 | Method and apparatus for being controlled to the posture of spacecraft |
| CN107438806B (en) * | 2015-03-31 | 2019-12-31 | 空中客车防务和空间公司 | Method and device for controlling the attitude of a spacecraft |
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| Publication number | Publication date |
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| CN102810936B (en) | 2015-05-13 |
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Granted publication date: 20150513 |