CN106097852B - A kind of magnetic torque demo system and its demenstration method - Google Patents
A kind of magnetic torque demo system and its demenstration method Download PDFInfo
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Abstract
A kind of magnetic torque demo system, the bearing (1) being arranged along the vertical direction including axial line, and the coil (2) for Simulated Spacecraft magnetic torquer that axial line is horizontally disposed, the outer ring (12) of bearing (1) or inner ring (11) are fixed together with demo platform, the inner ring (11) or outer ring (12) of coil and bearing are fixed together simultaneously, bearing inner race (11) or outer ring (12) are used for Simulated Spacecraft ontology, the alternate permanent magnet (3) for being used to simulate earth magnetic field of several pieces of magnetic poles is distributed in the periphery formula in a center of symmetry of coil (2) in the horizontal direction, bearing inner race (11) or outer ring are connected with the angular displacement sensor for detecting inner ring or outer ring actual rotation angle.The present invention has adequately simulated the space environment of spacecraft, and the moment of friction picked out can be used for obtaining the mathematical relationship between coil current and coil angle, realizes the simulation to Spacecraft Attitude Control.
Description
Technical field
The present invention relates to spacecraft demo systems, particularly, are related to a kind of magnetic torque demo system and its demenstration method.
Background technique
Magnetic torquer is the active control system being used widely in spacecraft (celestial body).Magnetic torque control system
The torque that working principle is exactly the interaction with current-carrying coil and earth magnetic field and generates makees control moment, makes spacecraft attitude
It changes.
The process for how controlling spacecraft attitude by magnetic torquer in ground visible, simulation true to nature, for spacecraft
Research important role, for universities and colleges the moment of momentum theorem teaching, spacecraft control teaching, spacecraft attitude impart knowledge to students
Effect also has important influence power.
In the prior art, it refers to about the demo system of spacecraft magnetic torquer is less, Chinese patent
201010296537.9 disclosing a kind of spacecraft attitude control semi-physical simulation system, mainly carried out using air-float turntable
Simulation, this method need air floating table to provide basic platform, involve great expense, and operating cost is high, and does not overcome friction completely；Together
When, the high-intensity magnetic field of not set simulation earth magnetism, magnetic torquer implementation effect is difficult to observe.
Summary of the invention
It is an object of that present invention to provide a kind of magnetic torque demo system and its demenstration methods, to solve to propose in background technique
The problem of.
To achieve the above object, the present invention provides a kind of magnetic torque demo systems, including axial line to set along the vertical direction
The horizontally disposed coil 2 for Simulated Spacecraft magnetic torquer of the bearing 1 and axial line set, the bearing 1
Outer ring 12 or inner ring 11 are fixed together with demo platform, while the inner ring 11 or outer ring 12 of coil 2 and bearing 1 are fixed on one
It rises, the bearing inner race 11 being fixed together with coil 2 or outer ring 12 be used for Simulated Spacecraft ontology, and coil 2 is in the horizontal direction
The alternate permanent magnet 3 for being used to simulate earth magnetic field of several pieces of magnetic poles is distributed in periphery formula in a center of symmetry, and coil 2 produces after being powered
Magnetisation field generates interaction with the magnetic field of the permanent magnet 3 of peripheral disposition, when opplied moment is greater than outside bearing inner race 11 and bearing
When enclosing the moment of friction between 12, coil 2 can rotate movement in the horizontal plane, and bearing inner race 11 or outer ring connection are useful
In detection inner ring or the angular displacement sensor of outer ring actual rotation angle.
The magnetic torque demo system is equipped with controller, coil 2 and angular displacement sensor and is electrically connected control by controller,
Controller is used to receive the actual rotation angle for the coil 2 that angular displacement sensor is fed back, and according to the actual rotation angle of coil 2
Magnetic torque suffered by coupling coil is spent, the frictional resistance moment between the inner ring and outer ring of bearing 1 is calculated, by frictional resistance moment
It is input to after identification in the Control System Design model of controller, to provide accurate control system.
Further, it is additionally provided between the inner ring and outer ring of bearing 1 for by the cable switching of coil 2 to demo platform
Desktop control system slip ring, wherein slip-ring rotor 51 and bearing inner race or outer ring are connected, while slip ring stator 52 and bearing
Outer ring or inner ring are connected, and the cable of coil 2 is connected on slip-ring rotor, and the cable of slip ring stator and angular displacement sensor is direct and sets
The desktop control system connection on demo platform is set, is put down so that the cable of pivotable parts be made to be transferred to demonstration by slip ring
Platform avoids that cable winds phenomenon occurs in 2 rotation process of coil.
Further, the iron core of intensifier coil magnetic force is equipped in the coil 2.According to the magnetic torque demo system, originally
Invention additionally provides a kind of magnetic torque demenstration method, comprising the following steps:
1, according to electromagnet suction formulaHot-wire coil 2 is calculated to being present in its magnetic field
In permeability magnetic material attraction Fε, according to the interaction of power, FεPermeability magnetic material is also equal to the active force of coil, the present invention
In, permeability magnetic material is permanent magnet 3, FεAs permanent magnet is to the active force of coil, μ in formula 10For air permeability, N is coil
The number of turns, δ are distance (gas length i.e. permanent magnet and coil between) of the permanent magnet to coil axial end portion, and A is coil pole-face
Product (coil pole-face product of the present invention is the area of a circle that single-turn circular coil surrounds in coil 2), i is coil electrical current；
2, for coil, iron core and permanent magnet, had according to the moment of momentum theorem: (Fε+Fp)s0=Tf+ J ω (formula 2), further accordance with
Permanent magnet magnetic force formula has:Wherein μrFor the opposite magnetic of magnetic material in permanent magnet
Conductance, S are permanent magnet pole surface area, δmIt is permanent magnet along the thickness of coil axial direction, HcFor magnetic material in permanent magnet
Coercivity, TfFor the moment of friction between bearing internal external circle, FpIt is permanent magnet to the active force of iron core, s0For coil axial end portion
To the distance of bearing axis, J is the rotary inertia of coil and iron core, and ω is the rotational angular velocity of coil and iron core (by angle position
Displacement sensor measures)；
3, formula 1 and formula 3 formula 2 is substituted into obtain
The moment of friction picked out is substituted into formula 2 to get between coil current and rotational angular velocity by the moment of friction as picked out
Mathematical relationship to get the control law for arriving demo system, thus it is convenient by coil current come the angle of control coil, allow line
Circle is with a certain rule movement or rests on a certain fixed angle, i.e., controls the position of coil, realize to spacecraft
The simulation of gesture stability.
It is influenced by the structure and position of permanent magnet 3, the magnetic field strength that permanent magnet 3 provides coil is also not absolute
Uniformly, therefore in each rotation period of coil, the dynamic friction torque of each position be will be different, in addition each initially to open
The maximum static friction torque overcome needed for dynamic position is also different.
Therefore, further, the demenstration method further includes step 4:
The initial start position for constantly changing coil, after coil is started turning in different starting positions, according to coil
Velocity of rotation, the angle of the every rotation X degree of coil, changes primary coil sense of current, coil is made to keep continuous rotation, further according to
Formula 4 calculates the dynamic friction torque size of different initial start positions, wherein X=360/ permanent magnet quantity.
Further, the demenstration method further includes step 5:
It allows coil to be parked in any position, is gradually increased coil current, if coil starts to move, obtain coil and overcome the position
Set initia start-up current i required for the maximum static friction torque at place0；
Constantly change the initial start position of coil, and measuring coil overcomes at this required for maximum static friction torque just
Beginning starting current i0, then the maximum static friction torque overcome needed for different initial start position lower coils is calculated by formula 4 (at this time
Because 0) the rotational angular velocity ω of coil and iron core is equal to, to obtain the static friction torque size of different starting positions.
Further, the demenstration method further includes step 6:
According to the resulting discrete dynamic friction torque numerical value of step 4 and/or step 5 and/or discrete static friction torque numerical value knot
It closes coil angle and establishes the number between dynamic friction torque and/or static friction torque and coil initial start position (i.e. initial angle)
Relational model is learned, facilitates and electric current is adjusted according to different coil positions, while initial start is installed according to different start bits
Electric current i0, realize more accurately simulating to Spacecraft Attitude Control.
The utility model has the advantages that
Demo system of the invention simulates magnetic torquer by horizontally disposed coil, and by the bearing of coil and low resistance
Inner ring or outer ring are fixed together, and have adequately simulated the space environment of spacecraft, and demenstration method of the invention is by by bearing
Moment of friction between Internal and external cycle, which picks out, to be come, and the moment of friction picked out, which can be used for being input in control system model, obtains line
Loop current and coil turn over the mathematical relationship between angle, to pass through the position of coil current control coil, realize to space flight
The simulation of device gesture stability.
Other than objects, features and advantages described above, there are also other objects, features and advantages by the present invention.
Below with reference to figure, the present invention is described in further detail.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the magnetic torque demo system overall structure diagram of the preferred embodiment of the present invention；
Fig. 2 is the magnetic torque demo system schematic top plan view of the preferred embodiment of the present invention.
In figure: 1- bearing, 11- bearing inner race, 12- bearing outer ring, 2- coil, 3- permanent magnet, 51- slip-ring rotor, 52- are sliding
Ring stator.
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be limited according to claim
Fixed and covering multitude of different ways is implemented.
Referring to a kind of magnetic torque demo system of FIG. 1 to FIG. 2, including the bearing 1 that axial line is arranged along the vertical direction, and
The horizontally disposed coil 2 for Simulated Spacecraft magnetic torquer of axial line, in the present embodiment, the outer ring 12 of bearing 1
It is fixed together with demo platform, while coil 2 and the inner ring 11 of bearing 1 are fixed together, the axis being fixed together with coil 2
Inner ring 11 is held for Simulated Spacecraft ontology, six blocks of magnetic are distributed with along the periphery formula in a center of symmetry of bearing radial direction in coil 2
Extremely alternate permanent magnet 3, six pieces of permanent magnets, two pieces of permanent magnet poles phase opposite two-by-two along bearing radial direction and opposite is instead
It attracts each other, to be modeled to earth magnetic field in coil periphery, coil 2 generates magnetic field after being powered, the permanent magnet 3 with peripheral disposition
Magnetic field generate interaction, when opplied moment is greater than moment of friction between bearing inner race 11 and bearing outer ring 12, coil 2
Movement can be rotated in the horizontal plane, and bearing inner race 11 or outer ring are connected with for detecting inner ring or outer ring actual rotation angle
The angular displacement sensor of degree.
Magnetic torque demo system in the present embodiment is equipped with controller, coil 2 and angular displacement sensor by controller electricity
Connection control, controller are used to receive the actual rotation angle for the coil 2 that angular displacement sensor is fed back, and according to coil 2
Magnetic torque suffered by actual rotation angle coupling coil calculates the frictional resistance moment between the inner ring and outer ring of bearing 1, will
It is input in the Control System Design model of controller after frictional resistance moment identification, to provide accurate control system.
In the present embodiment, it is additionally provided between the inner ring and outer ring of bearing 1 for by the cable switching of coil 2 to demo platform
On desktop control system slip ring, wherein slip-ring rotor 51 and bearing inner race or outer ring are connected, while slip ring stator 52 and axis
Bearing outer-ring or inner ring are connected, and the cable of coil 2 is connected on slip-ring rotor, the cable of slip ring stator and angular displacement sensor directly and
Desktop control system connection on demo platform is set, is put down so that the cable of pivotable parts be made to be transferred to demonstration by slip ring
Platform avoids that cable winds phenomenon occurs in 2 rotation process of coil.
In the present embodiment, the iron core (not shown) of intensifier coil magnetic force is equipped in coil 2.A kind of magnetic torque demonstration side
Method, comprising the following steps:
1, according to electromagnet suction formulaHot-wire coil 2 is calculated to being present in its magnetic field
In permeability magnetic material attraction Fε, according to the interaction of power, FεPermeability magnetic material is also equal to the active force of coil, the present invention
In, permeability magnetic material is permanent magnet 3, FεAs permanent magnet is to the active force of coil, μ in formula 10For air permeability, N is coil
The number of turns, δ are distance (gas length i.e. permanent magnet and coil between) of the permanent magnet to coil axial end portion, and A is coil pole-face
Product (coil pole-face product of the present invention is the area of a circle that single-turn circular coil surrounds in coil 2), i is coil electrical current；
2, for coil, iron core and permanent magnet, had according to the moment of momentum theorem: (Fε+Fp)s0=Tf+ J ω (formula 2), further accordance with
Permanent magnet magnetic force formula has:Wherein μrFor the opposite magnetic of magnetic material in permanent magnet
Conductance, S are permanent magnet pole surface area, δmIt is permanent magnet along the thickness of coil axial direction, HcFor magnetic material in permanent magnet
Coercivity, TfFor the moment of friction between bearing internal external circle, FpIt is permanent magnet to the active force of iron core, s0For coil axial end portion
To the distance of bearing axis, J is the rotary inertia of coil and iron core, and ω is the rotational angular velocity of coil and iron core (by angle position
Displacement sensor measures)；
3, formula 1 and formula 3 formula 2 is substituted into obtain
The moment of friction picked out is substituted into formula 2 to get between coil current and rotational angular velocity by the moment of friction as picked out
Mathematical relationship to get the control law for arriving demo system, thus it is convenient by coil current come the angle of control coil, allow line
Circle is with a certain rule movement or rests on a certain fixed angle, i.e., controls the position of coil, realize to spacecraft
The simulation of gesture stability.
Demenstration method in the present embodiment further includes step 4:
The initial start position for constantly changing coil, after coil is started turning in different starting positions, according to coil
Velocity of rotation, the angle of every 60 degree of the rotation of coil, changes primary coil sense of current, coil is made to keep continuous rotation, then root
The dynamic friction torque size of different initial start positions is calculated according to formula 4.
Demenstration method in the present embodiment further includes step 5:
It allows coil to be parked in any position, is gradually increased coil current, if coil starts to move, obtain coil and overcome the position
Set initia start-up current i required for the maximum static friction torque at place0；
Constantly change the initial start position of coil, and measuring coil overcomes at this required for maximum static friction torque just
Beginning starting current i0, then the maximum static friction torque overcome needed for different initial start position lower coils is calculated by formula 4 (at this time
Because 0) the rotational angular velocity ω of coil and iron core is equal to, to obtain the static friction torque size of different starting positions.
Demenstration method in the present embodiment further includes step 6:
According to the resulting discrete dynamic friction torque numerical value of step 4 and/or step 5 and/or discrete static friction torque numerical value knot
It closes coil angle and establishes the number between dynamic friction torque and/or static friction torque and coil initial start position (i.e. initial angle)
Relational model is learned, specifically usable FInite Element is analyzed, and adjusts electric current, while root according to different coil positions to facilitate
Initia start-up current i is installed according to different start bits0, realize more accurately simulating to Spacecraft Attitude Control.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of magnetic torque demo system, which is characterized in that the bearing (1) and axis being arranged along the vertical direction including axial line
The horizontally disposed coil (2) for Simulated Spacecraft magnetic torquer of heart line；The outer ring (12) of the bearing (1) with drill
Show that platform is fixed together, while coil (2) and the inner ring (11) of bearing (1) are fixed together, and are fixed together with coil (2)
Bearing inner ring (11) be used for Simulated Spacecraft ontology, either, the inner ring (11) of the bearing (1) is fixed with demo platform
Together, while coil (2) and the outer ring (12) of bearing (1) are fixed together, outside the bearing being fixed together with coil (2)
It encloses (12) and is used for Simulated Spacecraft ontology；Several pieces of magnetic poles are distributed in the periphery formula in a center of symmetry of coil (2) in the horizontal direction
The alternate permanent magnet (3) for being used to simulate earth magnetic field, coil (2) generate magnetic field after being powered, the permanent magnet (3) with peripheral disposition
Magnetic field generate interaction, when opplied moment is greater than moment of friction between bearing inner race (11) and bearing outer ring (12),
Coil (2) can rotate movement in the horizontal plane, and bearing inner race (11) or outer ring are connected with real for detecting inner ring or outer ring
The angular displacement sensor of border rotational angle；
The magnetic torque demo system is equipped with controller, coil (2) and angular displacement sensor and is electrically connected control, control by controller
Device processed is used to receive the actual rotation angle for the coil (2) that angular displacement sensor is fed back, and according to the actual rotation of coil (2)
Magnetic torque suffered by angle coupling coil calculates the frictional resistance moment between the inner ring and outer ring of bearing (1), and friction is hindered
It is input in the Control System Design model of controller after torque identification, to provide accurate control system.
2. a kind of magnetic torque demo system according to claim 1, which is characterized in that the inner ring of bearing (1) and outer ring it
Between be additionally provided with for by the slip ring of the desktop control system on the cable switching to demo platform of coil (2), wherein slip-ring rotor
(51) it is connected with bearing inner race or outer ring, while slip ring stator (52) and bearing outer ring or inner ring are connected, the cable of coil (2) connects
Onto slip-ring rotor, the cable of slip ring stator and angular displacement sensor is directly and the desktop control system that is arranged on demo platform
Connection, so that the cable of pivotable parts be made to be transferred to demo platform by slip ring, avoids that line occurs in coil (2) rotation process
Cable wrapping phenomena.
3. a kind of magnetic torque demo system according to claim 2, which is characterized in that be equipped with enhancing in the coil (2)
The iron core of coil magnetic force.
4. a kind of magnetic torque demenstration method of the setting of magnetic torque demo system described according to claim 1~any one of 3,
It is characterized in that, comprising the following steps:
1), according to electromagnet suction formulaHot-wire coil (2) are calculated to being present in its magnetic field
In permeability magnetic material attraction Fε, according to the interaction of power, FεPermeability magnetic material is also equal to the active force of coil, it is described to lead
Magnetic material is permanent magnet (3), FεAs permanent magnet is to the active force of coil, in formula 1: FεFor electromagnet suction, μ0For air magnetic
Conductance, N are coil turn, and δ is distance of the permanent magnet to coil axial end portion, and A is coil pole-face product, and i is coil electrical current；
2), for coil, iron core and permanent magnet, had according to the moment of momentum theorem: (Fε+Fp)s0=Tf+ J ω (formula 2), further accordance with permanent magnetism
Body magnetic force formula has:Wherein μrFor the relative permeability of magnetic material in permanent magnet,
S is permanent magnet pole surface area, δmIt is permanent magnet along the thickness of coil axial direction, HcFor the coercive of magnetic material in permanent magnet
Power, TfFor the moment of friction between bearing internal external circle, FpIt is permanent magnet to the active force of iron core, s0For coil axial end portion to axis
The distance of axial line is held, J is the rotary inertia of coil and iron core, and ω is the rotational angular velocity of coil and iron core, μ0For air magnetic
Conductance, δ are distance of the permanent magnet to coil axial end portion；
3) formula 1 and formula 3, are substituted into formula 2 to obtainAs
The moment of friction picked out is substituted into formula 2 to get the number between coil current and rotational angular velocity by the moment of friction picked out
Relationship is to get the control law for arriving demo system, thus by coil current come the angle of control coil, i.e., to the position of coil
It sets and is controlled, realize the simulation to Spacecraft Attitude Control.
5. a kind of magnetic torque demenstration method according to claim 4, which is characterized in that the demenstration method further includes step
4):
The initial start position for constantly changing coil, after coil is started turning in different starting positions, according to the rotation of coil
Speed, the angle of the every rotation X degree of coil, changes primary coil sense of current, so that coil is kept continuous rotation, further according to formula 4
The dynamic friction torque size of different initial start positions is calculated, wherein X=360/ permanent magnet quantity.
6. a kind of magnetic torque demenstration method according to claim 5, which is characterized in that the demenstration method further includes step
5):
It allows coil to be parked in any position, is gradually increased coil current, if coil starts to move, obtain coil and overcome at the position
Maximum static friction torque required for initia start-up current i0；
Constantly change the initial start position of coil, and measuring coil overcomes and initially opens required for maximum static friction torque at this
Streaming current i0, then the maximum static friction torque overcome needed for different initial start position lower coils is calculated by formula 4, to obtain
The static friction torque size of difference starting position.
7. a kind of magnetic torque demenstration method according to claim 6, which is characterized in that the demenstration method further includes step
6):
It is combined according to the resulting discrete dynamic friction torque numerical value of step 4) and/or step 5) and/or discrete static friction torque numerical value
Coil angle establishes the numerical relationship model between dynamic friction torque and/or static friction torque and coil initial start position, root
Electric current is adjusted according to different coil positions, while initia start-up current i is installed according to different start bits0, realize to space flight
The accurately simulation of device gesture stability.
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| US20100207488A1 (en) * | 2009-02-13 | 2010-08-19 | Chung-Yuan Christian University | Spherical rotary piezoelectric motor |
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| CN102568283A (en) * | 2010-12-31 | 2012-07-11 | 上海市向明中学 | Device capable of demonstrating electromagnetic induction experiment |
| CN203931283U (en) * | 2014-01-14 | 2014-11-05 | 王培森 | Magnetoelectricity phenomenon comprehensive demonstrator for teaching |
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2016
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201229695Y (en) * | 2008-06-26 | 2009-04-29 | 徐祺芳 | Experiment instrument for electromagnetic torque |
| CN101783629A (en) * | 2009-01-21 | 2010-07-21 | 凌宇 | Novel electric actuator |
| US20100207488A1 (en) * | 2009-02-13 | 2010-08-19 | Chung-Yuan Christian University | Spherical rotary piezoelectric motor |
| CN102568283A (en) * | 2010-12-31 | 2012-07-11 | 上海市向明中学 | Device capable of demonstrating electromagnetic induction experiment |
| CN102412763A (en) * | 2011-11-24 | 2012-04-11 | 天津大学 | Permanent magnet bearing-free auto-suspension three-degree-of-freedom spherical motor and control method thereof |
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