CN104613950B - A kind of magnetic suspension control sensitivity gyro - Google Patents
A kind of magnetic suspension control sensitivity gyro Download PDFInfo
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- CN104613950B CN104613950B CN201510006597.5A CN201510006597A CN104613950B CN 104613950 B CN104613950 B CN 104613950B CN 201510006597 A CN201510006597 A CN 201510006597A CN 104613950 B CN104613950 B CN 104613950B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/04—Details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/04—Details
- G01C19/16—Suspensions; Bearings
- G01C19/24—Suspensions; Bearings using magnetic or electrostatic fields
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/42—Rotary gyroscopes for indicating rate of turn; for integrating rate of turn
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
A kind of magnetic suspension control sensitivity gyro is mainly made up of stator system, rotor-support-foundation system and the part of rotation modulation system three, and stator system mainly includes：Base, mandrel, protection bearing, radial direction magnetic bearing stator, axial magnetic bearing stator, motor stator, displacement transducer；Rotor-support-foundation system mainly includes：Flywheel wheel body, protection bearing cap, radial direction magnetic bearing rotor, axial magnetic bearing rotor, rotor, deflection magnetic bearing rotor；Rotation modulation system mainly includes：Deflection magnetic bearing stator, supersonic motor, photoelectric code disk, conducting slip ring, rotation modulation bearing.Present invention firstly provides magnetic suspension control sensitivity gyro (Magnetically Suspended Control ＆ Sensing Gyroscope, MSCSG) new ideas, the gesture stability function of integrated control-moment gyro and the attitude measurement function of angular speed sensor, realize attitude prosecution integrally, gyroscopic drift error is eliminated using stator rotation modulation and rotor deflection modulation technique, so as to improve gyro sensitivity precision.
Description
Technical field
The present invention relates to a kind of magnetic suspension control sensitivity gyro, the gesture stability function of integrated control-moment gyro and angle are fast
The attitude measurement function of rate sensor, realizes attitude prosecution integrally, is disappeared using stator rotation modulation and rotor deflection modulation technique
Except gyroscopic drift error, so as to improve gyro sensitivity precision, it is adaptable to high precision and long service life earth observation platform of new generation, delivery
The attitude control system of rocket and ballistic missile.
Background technology
Inertial navigation system is due to the advantages of its entirely autonomous formula is navigated, being widely used in carrier rocket, ballistic missile, boat
The attitude control system of all kinds of aircraft such as its device.Inertia actuator and inertial sensor are the core devices of inertial navigation system
Part, the inertia actuator with control-moment gyro as representative and the inertial sensor with gyroscope as representative are each responsible for platform
The control of attitude and detection function, wooden pail effect therebetween govern the lifting of inertial navigation system precision.
The gesture stability function of the magnetic suspension control sensitivity integrated control-moment gyro of gyro and the attitude of angular speed sensor
Measurement function, compared with existing magnetic suspension control torque gyroscope or magnetic suspension rate gyroscope, magnetic suspension control sensitivity gyro
Maximum feature is that its stator can rotate, and rotor can be deflected.Its intension is embodied in three below aspect：In control
Function aspects, the rotor of Traditional control moment gyro can not be deflected, by the inclined of magnetic suspension control sensitivity gyrorotor
Turn, improve the precision and bandwidth of control moment.In detection function aspects, the stator of three floating gyros on present star, is not
It is revolvable, by the rotation of magnetic suspension control sensitivity gyro stator, improve the precision and bandwidth of angular speed.
The content of the invention
Technology solve problem of the invention is：The dystopy between existing control-moment gyro and angular speed sensor is overcome to ask
Topic, it is proposed that a kind of magnetic suspension control sensitivity gyro, the gesture stability function and angular speed for realizing control-moment gyro is sensitive
The integration of the attitude measurement function of device.
Technical solution of the invention：A kind of magnetic suspension control sensitivity gyro it is main by stator system, rotor-support-foundation system with
And the part of rotation modulation system three composition, it is characterised in that stator system mainly includes：Base, mandrel, motor stator and axial direction
The mounting disc of magnetic bearing stator, upper protection bearing, lower protection bearing, radial direction magnetic bearing stator, key, protection bearing locking nut, axial magnetic
Bearing stator, motor stator, displacement transducer, closure；Rotation modulation system mainly includes：Rotation modulation component, deflection magnetic
Bearing stator；Rotor-support-foundation system mainly includes：Flywheel wheel body, upper protection bearing cap, lower protection bearing cap, radial direction magnetic bearing rotor,
Axial magnetic bearing rotor, rotor, deflection magnetic bearing rotor, radial direction magnetic bearing rotor locknut, axial magnetic bearing internal rotor lock
Mother, axial magnetic bearing outer rotor locknut, motor internal rotor locknut, motor outer rotor locknut, deflection magnetic bearing internal rotor locknut, partially
Turn magnetic bearing outer rotor locknut；By radial direction magnetic bearing, axial magnetic axis between magnetic suspension rotor system and magnetic suspension stator system
Hold, deflect the stable suspersion that magnetic bearing realizes on-mechanical contact, deflection magnetic bearing stator realizes stator by rotation modulation component
Rotation, rotation modulation component is located at base top radially inner side and mandrel radial outside, and is arranged on base by trip bolt
On, deflection magnetic bearing stator is located at rotation modulation component top and is arranged on rotation modulation component by trip bolt；Mandrel
Positioned at base top radially inner side, and it is arranged on base by trip bolt, mandrel is located at upper protection bearing, lower protection axle
Hold, radial direction magnetic bearing stator and protection bearing locking nut radially inner side, motor stator and the mounting disc of axial magnetic bearing stator are located at rotation
Turn modulation component top and mandrel middle part radial outside, and be arranged on mandrel by trip bolt, radial direction magnetic bearing stator position
Between upper protection bearing and lower protection bearing, it is connected with mandrel by key, and prevents radial direction magnetic bearing stator from being rotated around mandrel,
Upper protection bearing, lower protection bearing and radial direction magnetic bearing stator are arranged on mandrel by protecting bearing locking nut, axial magnetic bearing
Stator is located at radial direction magnetic bearing stator radial outside, and is arranged on motor stator and axial magnetic bearing stator by trip bolt
In mounting disc, motor stator is located at axial magnetic bearing stator radial outside, and is arranged on motor stator and axle by trip bolt
To in magnetic bearing stator mounting disc, displacement transducer is located at base top and rotation modulation component radial outside, and by fastening
Screw is arranged on base, and closure is located at mandrel and base top, and is arranged on mandrel and base by interference fit；Footpath
Radial direction magnetic bearing stator radial outside is located to magnetic bearing rotor, and flywheel wheel body is arranged on by radial direction magnetic bearing rotor locknut
On, axial magnetic bearing internal rotor is located at axial magnetic bearing stator radially inner side, and is installed by axial magnetic bearing internal rotor locknut
On flywheel wheel body, axial magnetic bearing outer rotor is located at axial magnetic bearing stator radial outside, and turns by axial magnetic bearing
Sub- locknut is arranged on flywheel wheel body, and motor internal rotor is located at motor stator radially inner side, and is pacified by motor internal rotor locknut
On flywheel wheel body, motor outer rotor is located at motor stator radial outside, and is arranged on flywheel by motor outer rotor locknut
On wheel body, deflection magnetic bearing internal rotor is located at deflection magnetic bearing stator radially inner side, and by deflecting magnetic bearing internal rotor locknut
On flywheel wheel body, deflection magnetic bearing outer rotor is located at deflection magnetic bearing stator radial outside, and by deflecting magnetic bearing
Outer rotor locknut is arranged on flywheel wheel body, and upper protection bearing cap and lower protection bearing cap are located at upper protection bearing and lower guarantor respectively
The radial outside of bearing is protected, and is arranged on flywheel wheel body by trip bolt.
Described rotation modulation component includes stationary part and rotating part, and stationary part mainly includes：Supersonic motor
Stator, rotation modulation stator bearing holder (housing, cover), rotation modulation bearing stator, rotation modulation stator locknut；Rotating part mainly includes：It is super
Sound wave rotor, rotation modulation bearing rotor, rotation modulation armature spindle bearing sleeve, rotation modulation rotor locknut, conducting slip ring, partially
Turn the mounting disc of magnetic bearing stator, photoelectric code disk, photoelectric code disk pressure ring；Supersonic motor stator is located at rotation modulation stator bearing holder (housing, cover)
Middle part radial outside, and be arranged on rotation modulation stator bearing holder (housing, cover) by interference fit, rotation modulation bearing is located at rotation and adjusts
Sub- bearing holder (housing, cover) radially inner side is formulated, rotation modulation bearing stator is arranged on rotation modulation stator axis by rotation modulation stator locknut
On bearing sleeve；Rotation modulation armature spindle bearing sleeve is located at rotation modulation bearing radially inner side, and is installed by rotation modulation rotor locknut
On rotation modulation bearing rotor, conducting slip ring is located at rotation modulation rotor bearing and covers top radially inner side, and is matched somebody with somebody by interference
Conjunction puts installed in rotation modulation rotor bearing, and the mounting disc of deflection magnetic bearing stator is located at rotation modulation rotor bearing and covers top footpath
Laterally, and by trip bolt put installed in rotation modulation rotor bearing, photoelectric code disk is located at deflection magnetic bearing stator peace
Sabot middle part radial outside, and put installed in rotation modulation rotor bearing by photoelectric code disk pressure ring, supersonic motor rotor
Between rotation modulation stator bearing holder (housing, cover) radial outside, supersonic motor stator and deflection magnetic bearing stator mounting disc, and lead to
Trip bolt is crossed to be arranged in deflection magnetic bearing stator mounting disc.
Described radial direction magnetic bearing is pure electromagnetism magnetic bearing or permanent magnet biased magnetic bearing, including stationary part and rotation section
Point, stationary part mainly includes：Radial direction magnetic bearing stator sleeve, radial direction magnetic bearing stator core, radial direction magnetic bearing stator are every magnetic
Block, radial direction magnetic bearing winding coil, radial direction magnetic bearing stator locknut；Rotating part mainly includes：Radial direction magnetic bearing rotor core.
Described axial magnetic bearing is Lorentz force magnetic bearing, including stationary part and rotating part, stationary part are main
Including：Axial magnetic bearing stator skeleton, axial magnetic bearing winding coil；Rotating part mainly includes：Magnetic conduction in axial magnetic bearing
The outer magnetic guiding loop of ring, axial magnetic bearing magnet steel, axial magnetic bearing magnetism-isolating loop, axial magnetic bearing.
Described motor is using based on drag cup winding non-stator iron core permanent-magnet brushless DC high-speed, including stationary part
Divide and rotating part, stationary part mainly includes：Motor cup-shaped stator skeleton, machine winding；Rotating part mainly includes：Motor
Internal rotor lamination, magnetic steel of motor, motor outer rotor lamination.
Described deflection magnetic bearing is Lorentz force magnetic bearing, including stationary part and rotating part, stationary part are main
Including：Deflection magnetic bearing stator skeleton, deflection magnetic bearing winding coil；Rotating part mainly includes：Protection in deflection magnetic bearing
Magnetic guiding loop in magnetism-isolating loop, deflection magnetic bearing in magnet steel, deflection magnetic bearing in ring, deflection magnetic bearing, deflection magnetic bearing outer steel,
The outer magnetism-isolating loop of deflection magnetic bearing, the outer magnetic guiding loop of deflection magnetic bearing.
The principle of such scheme is：As shown in figure 1, under magnetic suspension control sensitivity gyro is in running order, by radially
Magnetic bearing, axial magnetic bearing, keep the radial and axial gap of rotor-support-foundation system and stator system, when rotor-support-foundation system is subject to a certain dry
After disturbing, rotor-support-foundation system produces the translation of footpath/axial direction, and the footpath/axial gap of rotor-support-foundation system changes, footpath/axial displacement sensing
Device detects the variable quantity of footpath/axial gap in time, and is converted into digital transfer to magnetic bearing controller, by control
The size of footpath/axial magnetic bearing coil current, increases/reduces the electromagnetic force of footpath/axial magnetic bearing, maintains magnetic suspension system
Footpath/axial gap is uniform, eliminates interference effect, realizes the complete suspension bearing of rotor-support-foundation system, subsequent start-up motor, using motor
Drive rotor high-speed rotation.By deflecting radially two deflections of the free degree of magnetic bearings control rotor-support-foundation system, when rotor-support-foundation system is received
To after a certain interference, rotor-support-foundation system produces the deflection of the equatorial plane, and shaft position sensor detects the variable quantity of axial gap in time,
And digital transfer to magnetic bearing controller is converted into, by controlling the size of deflection magnetic bearing coil current, produce one
To Ampere force equal in magnitude, in opposite direction, couple is formed, maintain the stabilization of the magnetic rotor system equatorial plane, eliminate interference effect.
The gesture stability function of the magnetic suspension control sensitivity integrated control-moment gyro of gyro and the attitude measurement function of angular speed sensor,
In terms of control function, by the deflection of magnetic suspension control sensitivity gyrorotor, the precision and bandwidth of control moment are improve.
Detection function aspects, by the rotation of magnetic suspension control sensitivity gyro stator, improve the precision and bandwidth of angular speed.
Present invention advantage compared with prior art is：(1) radial direction magnetic bearing magnetic pole strength uses spherical structure, sphere magnetic
All the time by the radial direction magnetic bearing rotor pole face centre of sphere, i.e., electromagnetic force is all the time by a bit for the electromagnetic force of pole；(2) axial magnetic bearing
Lorentz force magnetic bearing supporting technology is used with deflection magnetic bearing, Lorentz force magnetic bearing has the linearity higher；(3) use
Stator rotation modulation Error Compensation Technology, eliminates gyroscopic drift in real time, reappears true value, compared with measured value before compensation, measurement essence
Degree can be greatly improved；(4) rotor deflection modulation error compensation technique is used, gyroscopic drift during rotor deflection is solved the problems, such as,
The accuracy of detection of attitude angular rate can equally be greatly improved.
Brief description of the drawings
Fig. 1 is the sectional view of the magnetic suspension control sensitivity gyro of the technology of the present invention solution；
Fig. 2 is the sectional view of the rotation modulation component of the technology of the present invention solution；
Fig. 3 a are the sectional view of the radial direction magnetic bearing of the technology of the present invention solution；
Fig. 3 b are the end view drawing of the radial direction magnetic bearing of the technology of the present invention solution；
Fig. 4 is the sectional view of the axial magnetic bearing of the technology of the present invention solution；
Fig. 5 is the sectional view of the motor of the technology of the present invention solution；
Fig. 6 a are the sectional view of the deflection magnetic bearing of the technology of the present invention solution；
Fig. 6 b are the end view drawing of the deflection magnetic bearing of the technology of the present invention solution.
Specific embodiment
As shown in figure 1, magnetic suspension control sensitivity gyro is main by stator system, rotor-support-foundation system and rotation modulation system
Three parts constitute, it is characterised in that stator system mainly includes：Base 1, mandrel 3, motor stator and axial magnetic bearing stator peace
Sabot 4, upper protection bearing 5A, lower protection bearing 5B, the stator of radial direction magnetic bearing 6, key 7, protection bearing locking nut 8, axial magnetic bearing 9
Stator, the stator of motor 10, displacement transducer 12, closure 13；Rotation modulation system mainly includes：Rotation modulation component 2, deflection
The stator of magnetic bearing 11；Rotor-support-foundation system mainly includes：Flywheel wheel body 14, upper protection bearing cap 15A, lower protection bearing cap 15B, radial direction
The rotor of magnetic bearing 6, the rotor of axial magnetic bearing 9, the rotor of motor 10, deflection magnetic bearing 11 rotor, radial direction magnetic bearing rotor locknut 16,
Axial magnetic bearing internal rotor locknut 17, axial magnetic bearing outer rotor locknut 18, motor internal rotor locknut 19, motor outer rotor lock
Female 20, deflection magnetic bearing internal rotor locknut 21, deflection magnetic bearing outer rotor locknut 22；Magnetic suspension rotor system and magnetic suspension stator
The stable suspersion that on-mechanical is contacted is realized by radial direction magnetic bearing 6, axial magnetic bearing 9, deflection magnetic bearing 11 between system, deflection
The stator of magnetic bearing 11 realizes that stator rotates by rotation modulation component 2, and rotation modulation component 2 is located at the top radially inner side of base 1
With the radial outside of mandrel 3, and it is arranged on base 1 by trip bolt, deflection magnetic bearing 11 stator is located at rotation modulation component 2
Top is simultaneously arranged on rotation modulation component 2 by trip bolt；Mandrel 3 is located at the top radially inner side of base 1, and by fastening
Screw is arranged on base 1, and mandrel 3 is located at upper protection bearing 5A, lower protection bearing 5B, the stator of radial direction magnetic bearing 6 and protection axle
The radially inner side of locknut 8 is held, motor stator and axial magnetic bearing stator mounting disc 4 are located in the top of rotation modulation component 2 and mandrel 3
Portion's radial outside, and be arranged on mandrel 3 by trip bolt, the stator of radial direction magnetic bearing 6 is located at upper protection bearing 5A and lower guarantor
Between shield bearing 5B, it is connected with mandrel 3 by key 7, and prevents the stator of radial direction magnetic bearing 6 from being rotated around mandrel 3, upper protection bearing
5A, lower protection bearing 5B and the stator of radial direction magnetic bearing 6 are arranged on mandrel 3 by protecting bearing locking nut 8, and axial magnetic bearing 9 is determined
Son is located at the stator radial outside of radial direction magnetic bearing 6, and is arranged on motor stator and axial magnetic bearing stator peace by trip bolt
In sabot 4, the stator of motor 10 be located at the stator radial outside of axial magnetic bearing 9, and by trip bolt be arranged on motor stator and
In axial magnetic bearing stator mounting disc 4, displacement transducer 12 is located at the top of base 1 and the radial outside of rotation modulation component 2, and leads to
Trip bolt is crossed on base 1, closure 13 is located at mandrel 3 and the top of base 1, and is arranged on mandrel by interference fit
3 and base 1 on；The rotor of radial direction magnetic bearing 6 is located at the stator radial outside of radial direction magnetic bearing 6, and by radial direction magnetic bearing rotor lock
Female 16 are arranged on flywheel wheel body 14, and the internal rotor of axial magnetic bearing 9 is located at the stator radially inner side of axial magnetic bearing 9, and by axle
It is arranged on flywheel wheel body 14 to magnetic bearing internal rotor locknut 17, the outer rotor of axial magnetic bearing 9 is located at the stator footpath of axial magnetic bearing 9
Laterally, and by axial magnetic bearing internal rotor locknut 18 it is arranged on flywheel wheel body 14, the internal rotor of motor 10 is located at motor 10
Stator radially inner side, and be arranged on flywheel wheel body 14 by motor internal rotor locknut 19, the outer rotor of motor 10 is located at motor 10
Stator radial outside, and be arranged on flywheel wheel body 14 by motor outer rotor locknut 20, the deflection internal rotor of magnetic bearing 11 is located at
The deflection stator radially inner side of magnetic bearing 11, and by deflecting magnetic bearing internal rotor locknut 21 on flywheel wheel body 14, deflect
The outer rotor of magnetic bearing 11 is located at the deflection stator radial outside of magnetic bearing 11, and is arranged on by deflecting magnetic bearing outer rotor locknut 22
On flywheel wheel body 14, upper protection bearing cap 15A and lower protection bearing cap 15B is located at upper protection bearing 5A and lower protection bearing respectively
The radial outside of 5B, and be arranged on flywheel wheel body 14 by trip bolt.
Fig. 2 in the present invention rotation modulation component 2 include stationary part and rotating part, stationary part mainly includes：It is super
The stator of sound wave motor 201, rotation modulation stator bearing holder (housing, cover) 202, the stator of rotation modulation bearing 203, rotation modulation stator locknut
204；Rotating part mainly includes：The rotor of supersonic motor 201, the rotor of rotation modulation bearing 203, rotation modulation armature spindle bearing sleeve
205th, rotation modulation rotor locknut 206, conducting slip ring 207, deflection magnetic bearing stator mounting disc 208, photoelectric code disk 209, photoelectricity
Code-disc pressure ring 210；The stator of supersonic motor 201 is located at the middle part radial outside of rotation modulation stator bearing holder (housing, cover) 202, and by interference
Coordinate and be arranged on rotation modulation stator bearing holder (housing, cover) 202, rotation modulation bearing 203 is located at the footpath of rotation modulation stator bearing holder (housing, cover) 202
To inner side, the stator of rotation modulation bearing 203 is arranged on rotation modulation stator bearing holder (housing, cover) 202 by rotation modulation stator locknut 204
On；Rotation modulation armature spindle bearing sleeve 205 is located at the radially inner side of rotation modulation bearing 203, and by rotation modulation rotor locknut 206
On the rotor of rotation modulation bearing 203, conducting slip ring 207 is located at the top radially inner side of rotation modulation armature spindle bearing sleeve 205,
And be arranged on rotation modulation armature spindle bearing sleeve 205 by interference fit, deflection magnetic bearing stator mounting disc 208 is located at rotation and adjusts
The top radial outside of armature spindle bearing sleeve processed 205, and be arranged on rotation modulation armature spindle bearing sleeve 205 by trip bolt, photoelectricity
Code-disc 209 is located at the middle part radial outside of deflection magnetic bearing stator mounting disc 208, and is arranged on rotation by photoelectric code disk pressure ring 210
On modulation armature spindle bearing sleeve 205, the rotor of supersonic motor 201 is located at the radial outside of rotation modulation stator bearing holder (housing, cover) 202, surpasses
Between the stator of sound wave motor 201 and deflection magnetic bearing stator mounting disc 208, and it is fixed to be arranged on deflection magnetic bearing by trip bolt
In sub- mounting disc 208.
Fig. 2 in the present invention rotation modulation component 2 include stationary part and rotating part, stationary part mainly includes：It is super
The stator of sound wave motor 201, rotation modulation stator bearing holder (housing, cover) 202, the stator of rotation modulation bearing 203, rotation modulation stator locknut
204；Rotating part mainly includes：The rotor of supersonic motor 201, the rotor of rotation modulation bearing 203, rotation modulation armature spindle bearing sleeve
205th, rotation modulation rotor locknut 206, conducting slip ring 207, deflection magnetic bearing stator mounting disc 208, photoelectric code disk 209, photoelectricity
Code-disc pressure ring 210；The stator of supersonic motor 201 is located at the middle part radial outside of rotation modulation stator bearing holder (housing, cover) 202, and by interference
Coordinate and be arranged on rotation modulation stator bearing holder (housing, cover) 202, rotation modulation bearing 203 is located at the footpath of rotation modulation stator bearing holder (housing, cover) 202
To inner side, the stator of rotation modulation bearing 203 is arranged on rotation modulation stator bearing holder (housing, cover) 202 by rotation modulation stator locknut 204
On；Rotation modulation armature spindle bearing sleeve 205 is located at the radially inner side of rotation modulation bearing 203, and by rotation modulation rotor locknut 206
On the rotor of rotation modulation bearing 203, conducting slip ring 207 is located at the top radially inner side of rotation modulation armature spindle bearing sleeve 205,
And be arranged on rotation modulation armature spindle bearing sleeve 205 by interference fit, deflection magnetic bearing stator mounting disc 208 is located at rotation and adjusts
The top radial outside of armature spindle bearing sleeve processed 205, and be arranged on rotation modulation armature spindle bearing sleeve 205 by trip bolt, photoelectricity
Code-disc 209 is located at the middle part radial outside of deflection magnetic bearing stator mounting disc 208, and is arranged on rotation by photoelectric code disk pressure ring 210
On modulation armature spindle bearing sleeve 205, the rotor of supersonic motor 201 is located at the radial outside of rotation modulation stator bearing holder (housing, cover) 202, surpasses
Between the stator of sound wave motor 201 and deflection magnetic bearing stator mounting disc 208, and it is fixed to be arranged on deflection magnetic bearing by trip bolt
In sub- mounting disc 208.
Fig. 4 is the sectional view of axial magnetic bearing 9 in the present invention, and axial magnetic bearing 9 mainly includes：Axial magnetic bearing stator bone
Magnetic guiding loop 903, axial magnetic bearing magnet steel 904, axial magnetic axis in frame 901, axial magnetic bearing winding coil 902, axial magnetic bearing
The outer magnetic guiding loop 906 of magnetism-isolating loop 905, axial magnetic bearing is held, wherein, axial magnetic bearing stator skeleton 901 and axial magnetic bearing winding
Coil 902 is stationary part, and remaining is rotating part.Axial magnetic bearing winding coil 902 is located at axial magnetic bearing stator skeleton
901 radial outside, and coordinated on axial magnetic bearing stator skeleton 901 by gap；Magnetic guiding loop in axial magnetic bearing
903 radially inner sides for being located at axial magnetic bearing stator skeleton 901, axial magnetic bearing magnet steel 904 is located at axial magnetic bearing stator bone
The radial outside of frame 901, and upper and lower two parts, the outer magnetic guiding loop 906 of axial magnetic bearing are divided into by axial magnetic bearing magnetism-isolating loop 905
Positioned at the radial outside of axial magnetic bearing magnet steel 904.
Fig. 5 is the sectional view of motor 10 in the present invention, and motor 10 mainly includes：Motor cup-shaped stator skeleton 1001, motor
Winding 1002, motor internal rotor lamination 1003, magnetic steel of motor 1004, motor outer rotor lamination 1005, wherein, motor cup-shaped stator
Skeleton 1001 and machine winding 1002 are stationary part, and remaining is rotating part.Machine winding 1002 is located at motor cup-shaped stator
The radial outside of skeleton 1001, and coordinated on motor cup-shaped stator skeleton 1001 by gap；Motor internal rotor lamination
1003 radially inner sides for being located at motor cup-shaped stator skeleton 1001, magnetic steel of motor 1004 is located at motor cup-shaped stator skeleton 1001
Radial outside, motor outer rotor lamination 1005 is located at the radial outside of magnetic steel of motor 1004.
Fig. 6 a are the sectional view of deflection magnetic bearing 11 in the present invention, and Fig. 6 b are the end face of deflection magnetic bearing 11 in the present invention
Figure, deflection magnetic bearing 11 mainly includes：Deflection magnetic bearing stator skeleton 1101, deflection magnetic bearing winding coil 1102, deflection magnetic
Protection ring 1103 in bearing, magnetic conduction in magnetism-isolating loop 1105, deflection magnetic bearing in magnet steel 1104, deflection magnetic bearing in deflection magnetic bearing
Ring 1106, deflection magnetic bearing outer steel 1107, the outer magnetism-isolating loop 1108 of deflection magnetic bearing, the outer magnetic guiding loop 1109 of deflection magnetic bearing, its
In, deflection magnetic bearing stator skeleton 1101 and deflection magnetic bearing winding coil 1102 are stationary part, and remaining is rotating part.Partially
Turn the radial outside that magnetic bearing winding coil 1102 is located at deflection magnetic bearing stator skeleton 1101, and be arranged on by gap cooperation
On deflection magnetic bearing stator skeleton 1101；Protection ring 1103 is located at the footpath of deflection magnetic bearing stator skeleton 1101 in deflection magnetic bearing
To inner side, magnet steel 1104 is located at the radially inner side of protection ring 1103 in deflection magnetic bearing in deflection magnetic bearing, and by deflecting magnetic
Magnetism-isolating loop 1105 is divided into upper and lower two parts in bearing, and magnetic guiding loop 1106 is located at magnet steel 1104 in deflection magnetic bearing in deflection magnetic bearing
Radially inner side；Deflection magnetic bearing outer steel 1107 is located at the radial outside of deflection magnetic bearing stator skeleton 1101, and by inclined
Turn the outer magnetism-isolating loop 1108 of magnetic bearing and be divided into upper and lower two parts, the outer magnetic guiding loop 1109 of deflection magnetic bearing is located at deflection magnetic bearing outer steel
1107 radial outside.
The content not being described in detail in description of the invention belongs to prior art known to professional and technical personnel in the field.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of magnetic suspension control sensitivity gyro, mainly by stator system, rotor-support-foundation system and the part group of rotation modulation system three
Into, it is characterised in that stator system mainly includes：Base (1), mandrel (3), motor stator and axial magnetic bearing stator mounting disc
(4), upper protection bearing (5A), lower protection bearing (5B), radial direction magnetic bearing (6) stator, key (7), protection bearing locking nut (8), axle
To magnetic bearing (9) stator, motor (10) stator, displacement transducer (12), closure (13)；Rotation modulation system mainly includes：
Rotation modulation component (2), deflection magnetic bearing (11) stator；Rotor-support-foundation system mainly includes：Flywheel wheel body (14), upper protection bearing cap
(15A), lower protection bearing cap (15B), radial direction magnetic bearing (6) rotor, axial magnetic bearing (9) rotor, motor (10) rotor, deflection
Turn outside magnetic bearing (11) rotor, radial direction magnetic bearing rotor locknut (16), axial magnetic bearing internal rotor locknut (17), axial magnetic bearing
Sub- locknut (18), motor internal rotor locknut (19), motor outer rotor locknut (20), deflection magnetic bearing internal rotor locknut (21), partially
Turn magnetic bearing outer rotor locknut (22)；Pass through radial direction magnetic bearing (6), axle between magnetic suspension rotor system and magnetic suspension stator system
The stable suspersion that on-mechanical is contacted is realized to magnetic bearing (9), deflection magnetic bearing (11), deflection magnetic bearing (11) stator is by rotation
Modulation component (2) realizes that stator rotates, and rotation modulation component (2) is outside positioned at base (1) top radially inner side and mandrel (3) footpath
Side, and be arranged on base (1) by trip bolt, deflection magnetic bearing (11) stator is located at rotation modulation component (2) top simultaneously
It is arranged on rotation modulation component (2) by trip bolt；Mandrel (3) positioned at base (1) top radially inner side, and by fastening
Screw is arranged on base (1), and mandrel (3) is fixed positioned at upper protection bearing (5A), lower protection bearing (5B), radial direction magnetic bearing (6)
Son and protection bearing locking nut (8) radially inner side, motor stator and axial magnetic bearing stator mounting disc (4) are positioned at rotation modulation component
(2) top and mandrel (3) middle part radial outside, and be arranged on mandrel (3) by trip bolt, radial direction magnetic bearing (6) stator
Between upper protection bearing (5A) and lower protection bearing (5B), it is connected with mandrel (3) by key (7), and prevent radial direction magnetic axis
Hold (6) stator to be rotated around mandrel (3), upper protection bearing (5A), lower protection bearing (5B) and radial direction magnetic bearing (6) stator are by protecting
On mandrel (3), axial magnetic bearing (9) stator is located at radial direction magnetic bearing (6) stator radial outside to shield bearing locking nut (8),
And be arranged on motor stator and axial magnetic bearing stator mounting disc (4) by trip bolt, motor (10) stator is located at axially
Magnetic bearing (9) stator radial outside, and motor stator and axial magnetic bearing stator mounting disc (4) are arranged on by trip bolt
On, displacement transducer (12) is installed positioned at base (1) top and rotation modulation component (2) radial outside by trip bolt
On base (1), closure (13) positioned at mandrel (3) and base (1) top, and by interference fit be arranged on mandrel (3) and
On base (1)；Radial direction magnetic bearing (6) rotor is located at radial direction magnetic bearing (6) stator radial outside, and by radial direction magnetic bearing rotor
Locknut (16) is on flywheel wheel body (14), and it is inside that axial magnetic bearing (9) internal rotor is located at axial magnetic bearing (9) stator footpath
Side, and by axial magnetic bearing internal rotor locknut (17) on flywheel wheel body (14), axial magnetic bearing (9) outer rotor is located at
Axial magnetic bearing (9) stator radial outside, and by axial magnetic bearing internal rotor locknut (18) on flywheel wheel body (14),
Motor (10) internal rotor is located at motor (10) stator radially inner side, and by motor internal rotor locknut (19) installed in flywheel wheel body
(14) on, motor (10) outer rotor is located at motor (10) stator radial outside, and is arranged on by motor outer rotor locknut (20)
On flywheel wheel body (14), deflection magnetic bearing (11) internal rotor is located at deflection magnetic bearing (11) stator radially inner side, and by deflection
On flywheel wheel body (14), deflection magnetic bearing (11) outer rotor is located at deflection magnetic bearing to magnetic bearing internal rotor locknut (21)
(11) stator radial outside, and by deflecting magnetic bearing outer rotor locknut (22) on flywheel wheel body (14), upper protection axle
Hold lid (15A) and lower protection bearing cap (15B) be located at the radial outside of upper protection bearing (5A) and lower protection bearing (5B) respectively,
And be arranged on flywheel wheel body (14) by trip bolt.
2. magnetic suspension control according to claim 1 sensitivity gyro, it is characterised in that：Described rotation modulation component (2)
Including stationary part and rotating part, stationary part mainly includes：Supersonic motor (201) stator, rotation modulation stator bearing
Set (202), rotation modulation bearing (203) stator, rotation modulation stator locknut (204)；Rotating part mainly includes：Ultrasonic wave electricity
Machine (201) rotor, rotation modulation bearing (203) rotor, rotation modulation armature spindle bearing sleeve (205), rotation modulation rotor locknut
(206), conducting slip ring (207), deflection magnetic bearing stator mounting disc (208), photoelectric code disk (209), photoelectric code disk pressure ring
(210)；Supersonic motor (201) stator is located at rotation modulation stator bearing holder (housing, cover) (202) middle part radial outside, and is matched somebody with somebody by interference
Close and be arranged on rotation modulation stator bearing holder (housing, cover) (202), rotation modulation bearing (203) is positioned at rotation modulation stator bearing holder (housing, cover)
(202) radially inner side, rotation modulation bearing (203) stator is fixed installed in rotation modulation by rotation modulation stator locknut (204)
On sub- bearing holder (housing, cover) (202)；Rotation modulation armature spindle bearing sleeve (205) positioned at rotation modulation bearing (203) radially inner side, and by rotation
On rotation modulation bearing (203) rotor, conducting slip ring (207) turns modulation rotor locknut (206) positioned at rotation modulation
Sub- bearing holder (housing, cover) (205) top radially inner side, and be arranged on rotation modulation armature spindle bearing sleeve (205) by interference fit, deflection
Magnetic bearing stator mounting disc (208) is pacified positioned at rotation modulation armature spindle bearing sleeve (205) top radial outside by trip bolt
On rotation modulation armature spindle bearing sleeve (205), photoelectric code disk (209) is positioned at deflection magnetic bearing stator mounting disc (208) middle part
Radial outside, and by photoelectric code disk pressure ring (210) on rotation modulation armature spindle bearing sleeve (205), supersonic motor
(201) rotor is located at rotation modulation stator bearing holder (housing, cover) (202) radial outside, supersonic motor (201) stator and deflection magnetic bearing
Between stator mounting disc (208), and it is arranged in deflection magnetic bearing stator mounting disc (208) by trip bolt.
3. magnetic suspension control according to claim 1 sensitivity gyro, it is characterised in that：Described radial direction magnetic bearing (6) is
Pure electromagnetism magnetic bearing or permanent magnet biased magnetic bearing, including stationary part and rotating part, stationary part mainly include：Radial direction magnetic axis
Stator sleeve (601), radial direction magnetic bearing stator core (602), radial direction magnetic bearing stator are held every magnetic patch (603), radial direction magnetic bearing
Winding coil (604), radial direction magnetic bearing stator locknut (605)；Rotating part mainly includes：Radial direction magnetic bearing rotor core
(606)。
4. magnetic suspension control according to claim 1 sensitivity gyro, it is characterised in that：Described axial magnetic bearing (9) is
Lorentz force magnetic bearing, including stationary part and rotating part, stationary part mainly include：Axial magnetic bearing stator skeleton
(901), axial magnetic bearing winding coil (902)；Rotating part mainly includes：Magnetic guiding loop (903), axial magnetic in axial magnetic bearing
The outer magnetic guiding loop (906) of bearing magnet steel (904), axial magnetic bearing magnetism-isolating loop (905), axial magnetic bearing.
5. magnetic suspension control according to claim 1 sensitivity gyro, it is characterised in that：Described motor (10) is used and is based on
Drag cup winding non-stator iron core permanent-magnet brushless DC high-speed, including stationary part and rotating part, stationary part are main
Including：Motor cup-shaped stator skeleton (1001), machine winding (1002)；Rotating part mainly includes：Motor internal rotor lamination
(1003), magnetic steel of motor (1004), motor outer rotor lamination (1005).
6. magnetic suspension control according to claim 1 sensitivity gyro, it is characterised in that：Described deflection magnetic bearing (11) is
Lorentz force magnetic bearing, including stationary part and rotating part, stationary part mainly include：Deflection magnetic bearing stator skeleton
(1101), deflection magnetic bearing winding coil (1102)；Rotating part mainly includes：Deflection magnetic bearing in protection ring (1103), partially
Turn magnetism-isolating loop (1105) in magnet steel in magnetic bearing (1104), deflection magnetic bearing, deflect magnetic guiding loop (1106) in magnetic bearing, deflection magnetic
Bearing outer steel (1107), the outer magnetism-isolating loop (1108) of deflection magnetic bearing, the outer magnetic guiding loop (1109) of deflection magnetic bearing.
7. the sensitive gyro of magnetic suspension control according to claim 1,2 or 6, it is characterised in that：Deflection magnetic bearing (11) is fixed
Son is arranged on rotation modulation component (2) rotor by trip bolt, and rotation modulation component (2) rotor passes through supersonic motor
(201) drive, so as to realize deflection magnetic bearing (11) stator rotation.
8. the sensitive gyro of magnetic suspension control according to claim 1 or 3, it is characterised in that：Described radial direction magnetic bearing (6)
Magnetic pole strength is spherical structure, and the electromagnetic force of sphere magnetic pole begins by the radial direction magnetic bearing rotor pole face centre of sphere, i.e. electromagnetic force all the time
Eventually by a bit.
9. the sensitive gyro of magnetic suspension control according to claim 1 or 6, it is characterised in that：Described deflection magnetic bearing
(11) stationary part, four deflect magnetic bearing winding coil (1102) in deflection magnetic bearing stator skeleton (1101), in pairs
It is used in series, when four deflection magnetic bearing winding coil (1102) numbers of turn are identical, the Ampere force of generation is equal in magnitude, direction phase
It is anti-to form couple, interference will not be produced to three translation directions.
10. the sensitive gyro of magnetic suspension control according to claim 1 or 6, it is characterised in that：Magnetic suspension control sensitivity gyro
Rotor-support-foundation system by deflect magnetic bearing (11) realize radially two deflection the free degree controls.
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