CN107097978B - A kind of magnetic suspension control torque gyroscope device - Google Patents
A kind of magnetic suspension control torque gyroscope device Download PDFInfo
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- CN107097978B CN107097978B CN201710280178.XA CN201710280178A CN107097978B CN 107097978 B CN107097978 B CN 107097978B CN 201710280178 A CN201710280178 A CN 201710280178A CN 107097978 B CN107097978 B CN 107097978B
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- 239000000725 suspension Substances 0.000 title claims abstract description 57
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/286—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using control momentum gyroscopes (CMGs)
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
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- Aviation & Aerospace Engineering (AREA)
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- Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- General Physics & Mathematics (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention discloses a kind of magnetic suspension control torque gyroscope devices; it is made of fly wheel system and frame system; fly wheel system is made of flyball, radial magnetic bearing, radial-direction position sensor, axial passive magnetic suspension bearing, motor, protection bearing, capsul and axle bed etc.; protection bearing is in the middle part of flywheel; two sides are capsul and axle bed, and two sides are successively flyball, radial magnetic bearing, radial-direction position sensor, axial passive magnetic suspension bearing, motor from inside to outside to protection bearing up and down；Frame system is made of bracket, turntable, torque motor, bearing, sleeve, locknut, conducting slip ring, photoelectric code disk, end cap and pedestal, bracket is connected with axle bed in frame system, bracket is connected with turntable, it is conducting slip ring in the middle part of turntable, is sleeve, bearing, locknut, photoelectric code disk and end cap outward.Present invention employs axial passive magnetic suspension bearing and photoelectric code disks, reduce volume, weight and vibration, improve control precision and response speed.
Description
Technical field
The present invention relates to the technical fields of control-moment gyro, and in particular to a kind of magnetic suspension control torque gyroscope device,
It can be used for the large angle attitude control and pose stabilization control of the spacecrafts such as quick maneuvering satellite and Large-scale satellite.
Background technique
Modern Application is in the quick maneuvering satellite such as Tactics of Urban Surveying, precision agriculture, disaster monitoring or Large-scale satellite earth observation
Or the spacecrafts such as satellite platform of scientific research propose higher and higher want to the flexibility of stability and large angle maneuver
It asks, the efficiency and quality of earth observation can be improved in the satellite of energy large angle maneuver.Single-gimbal control momentum gyro is spacecraft
One of main execution unit for gesture stability.Existing single-gimbal control momentum gyro, flywheel rotor system all use machine
Tool bearing support is worn since mechanical bearing exists, so there is also many limitations in terms of revolving speed and service life, while by
In the non-linear of mechanical axis moment of friction, a disturbance torque can be brought to Space Vehicle System, to influence the stabilization of spacecraft
Property；Chinese invention patent ZL200710065550.1, the gyro in magnetic suspension control moment gyro of single framework as shown in Fig. 1
Rotor uses inner rotor core, and due to the rotor of phase homogenous quantities and volume, the rotary inertia of the gyrorotor of inner rotor core is wanted
Less than the angular momentum of the gyrorotor of outer-rotor structure, in same angular velocity, the angular momentum of the gyrorotor of inner rotor core
It is less than the angular momentum of the gyrorotor of outer-rotor structure, so when output phase is with angular momentum, the control force of inner rotor core
The volume and quality of square gyro are relatively large；By the way of some magnetic suspension control moment gyro of single framework are supported using both ends, such as
Attached drawing 2, there are two supporting point (supporting points 1,2) for frame system, and both ends are required to a pair of of mechanical bearing, the control force of this structure
The frame system of square gyro needs to provide biggish rotary space for rotor-support-foundation system, so the volume and weight of frame system is opposite
It is larger and also bigger with the mechanical interface of satellite, be not suitable for the control-moment gyro of medium and small torque output；Chinese invention is special
Sharp ZL200710065551.6, flywheel and frame in single-gimbal control momentum gyro as shown in Fig. 3 all use magnetic suspension
Bearing, the control-moment gyro structure and control system of this structure be all more complicated, volume and quality are relatively large, is not suitable for
The control-moment gyro of medium and small torque output.
Chinese patent application CN200710098750.7 gives a kind of magnetic suspension reaction fly-wheel, without frame system,
Output torque is relatively small；Chinese patent application CN200610011561.7 gives a kind of magnetic-levitation revolving table, is not suitable as
Spacecraft Attitude Control executing agency；Chinese patent application CN200610011579.7 gives a kind of magnetic levitation energy storage flywheel,
But this accumulated energy flywheel is used for the energy storage device of spacecraft, is not suitable for as Spacecraft Attitude Control executing agency；Chinese patent
Apply for CN200710304236.4, give a kind of double-frame magnetic suspension control moment gyro, there are two frame system, structure is multiple
It is miscellaneous, and inner frame system is coupled with the presence of outer framework system, and control difficulty is larger.CN201510555829.2；Patent application
CN201510555829.2, gives a kind of high-torque magnetic suspension control sensitivity gyro, but frame system is there are two supporting point, and two
End is required to a pair of of mechanical bearing, and the frame system of the control-moment gyro of this structure needs to provide for rotor-support-foundation system biggish
Rotary space is not suitable for so the volume and weight of frame system is relatively large, and also bigger with the mechanical interface of satellite
The control-moment gyro of medium and small torque output.
Summary of the invention
The technical problem to be solved by the present invention is overcome the deficiencies in the prior art, is applied to control for magnetic suspension bearing technology
In the flywheel subsystem of moment gyro processed, a kind of single end support type magnetic suspension control moment gyro of single framework is provided, can be used for
The large angle maneuver gesture stability of middle-size and small-size spacecraft such as moonlet and the pose stabilization control of Large-scale satellite.
The present invention solves the technical solution that above-mentioned technical problem uses are as follows: a kind of magnetic suspension control torque gyroscope device, it is main
It to be made of fly wheel system and frame system two large divisions, wherein fly wheel system is mainly by flyball, radial magnetic bearing, radial direction
Position sensor, axial passive magnetic suspension bearing, motor, protection bearing, capsul and axle bed composition, protection bearing are in flywheel
Middle part, two sides are capsul and axle bed, and two sides are successively flyball, radial magnetic bearing, radial position to protection bearing up and down
Sensor, axial passive magnetic suspension bearing, motor, wherein flyball, radial magnetic bearing rotor portion, axial passive magnetcisuspension
The rotor assembly of floating bearing rotor portion and rotor part composition fly wheel system, remaining is stator module, stator module
The stable suspersion of on-mechanical contact is realized by radial magnetic bearing and axial passive magnetic suspension bearing between rotor assembly,
The wherein stationary part of radial magnetic bearing and the axial passive stationary part of magnetic suspension bearing, the stationary part of motor, diameter
It links together to position sensor, protection bearing and capsul and axle bed, protects and form radial direction between bearing outer ring and flyball
Portable protective gaps and axial portable protective gaps are protected and form radial detection gap between radial-direction position sensor and flyball；Frame system
Mainly it is made of bracket, turntable, torque motor, bearing, sleeve, locknut, conducting slip ring, photoelectric code disk, end cap and pedestal, wherein
Bracket, turntable, the rotor portion of torque motor, the rotating part of photoelectric code disk, the rotating part of conducting slip ring and bearing
Rotating part is connected to form the rotating part of frame system, remaining is stationary part, and bracket is connected with turntable, is to lead in the middle part of turntable
Electric slip ring is successively sleeve, bearing, locknut, photoelectric code disk and end cap outward, is sequentially installed with conduction from the inside to surface on the downside of turntable
The rotating part of slip ring, sleeve, the rotating part of bearing, the rotating part of torque motor, photoelectric code disk rotating part and
Locknut, be sequentially installed on the inside of pedestal from outside to inside the stationary part of torque motor, the stationary part of bearing, photoelectric code disk it is quiet
The stationary part and end cap of stop point, conducting slip ring, bracket are connected with the axle bed of fly wheel system, make fly wheel system and frame system
System group is integral, and torque motor and photoelectric code disk are mounted in parallel with bearing.
Wherein, the radial magnetic bearing is the active magnetic bearing of permanent magnet bias, Electromagnetic Control.
Wherein, the axial passive magnetic suspension bearing is permanent magnetism passive magnetic bearing.
Wherein, the radial magnetic bearing and axial passive magnetic suspension bearing are the symmetrical structures of magnetic picture etc., or
The unequal unsymmetric structure of magnetic force.
Wherein, the motor no longer contains mechanical bearing, and radial magnetic bearing, axial passive magnetic suspension bearing are electricity
Machine plays radial and axial support positioning action.
Wherein, the torque motor is brushless D. C. torque motor or permanent magnet synchronous torque motor.
The principle of above scheme is: a kind of fly wheel system of magnetic suspension control torque gyroscope device passes through axial magnetic axis
It holds and axial passive magnetic suspension bearing keeps the rotor assembly of fly wheel system and radial and axial gap and the motor of stator module
The radial and axial gap of stator and rotor is uniform.After interference of the rotor assembly by a certain factor of fly wheel system, fly wheel system
The axially or radially gap of rotor assembly can change, and radial displacement transducer will detect the change of radial clearance in time at this time
Change, issues detection signal to additional controller, additional controller is by increaseing or decreasing the electromagnetic coil of radial magnetic bearing
In electric current, increase or reduce the magnetic force of radial magnetic bearing, while axial passive magnetic suspension bearing passes through suction or repulsion
Prevent fly wheel system rotor assembly position variation, thus keep the stator module of fly wheel system and the radial direction of rotor assembly and
Axial gap is uniform, eliminates the influence of interference, and the normal table of fly wheel system is maintained to run at high speed；When control-moment gyro receives
When control instruction carries out pose adjustment to spacecraft, torque motor driver framework system rotating part is rotated with a fixed angular speed,
The angle that photoelectric code disk detection framework system is turned at this time, and this angle signal is carried out with command signal in the controller
Feedback control, so that the accurate control of angular speed is realized, the angle of the rotor assembly of the rotary shaft and fly wheel system of frame system
Momentum direction is always in spatial vertical, and according to gyroscopic couple equation, control-moment gyro will export a control moment, this
Control moment is transmitted on spacecraft by the pedestal of frame system and the mechanical interface of spacecraft, to carry out appearance to spacecraft
State control.Fly wheel system and frame system are connect using concatenated mode, supporting point only one, to realize single-ended support.
The advantages of the present invention over the prior art are that: the present invention is due to using radial magnetic bearing and axial quilt
Dynamic magnetic suspension bearing technology, gyrorotor use outer-rotor structure, that is, eliminate the moment of friction of mechanical bearing, improve flywheel
The revolving speed of system, thus the ratio of output torque and angular momentum is improved, while reducing the power consumption of control-moment gyro system, body
Product, vibration noise, improve the reliability and service life of system；The present invention is complete by fly wheel system using single-ended supporting way
It is placed in the outside of frame system, compared with the control-moment gyro of existing single-ended supporting way, angular position pick up uses body
Product small, light weight, photoelectric code disk with high accuracy；Torque motor and photoelectric code disk are mounted in parallel with bearing, compact-sized, are reduced
The volume and weight of frame system also reduces the bonded area of frame base bottom end, provides for control-moment gyro and satellite
Convenient mechanical interface.
Detailed description of the invention
Fig. 1 is existing inner rotor core magnetic suspension control moment gyro of single framework；
Fig. 2 is existing both ends brace type single-gimbal control momentum gyro；
Fig. 3 is existing completely non-contacting magnetic suspension control moment gyro of single framework；
Fig. 4 is magnetic suspension control torque gyroscope structural schematic diagram main view of the invention；
Fig. 5 is magnetic suspension control torque gyroscope structural schematic diagram left view of the invention；
Fig. 6 is axial magnetic magnetic bearing sectional view of the invention；
Fig. 7 is axial passive magnetic suspension bearing sectional view of the invention；
Fig. 8 is radial-direction position sensor sectional view of the invention；
Fig. 9 is motor sectional view of the invention；
Figure 10 is torque motor sectional view of the invention.
Specific embodiment
With reference to the accompanying drawing and specific embodiment further illustrates the present invention.
Such as Fig. 4 and Fig. 5, the present invention is mainly made of fly wheel system and frame system two large divisions, wherein fly wheel system master
It will be by flyball 2, radial magnetic bearing 8, radial-direction position sensor 6, axial passive magnetic suspension bearing 5, motor 4, protection bearing
1, capsul 3 and axle bed 7 form, and protection bearing 1 is in the middle part of flywheel, and two sides are capsul 3 and axle bed 7, protect on bearing 1
Lower two sides are successively flyball 2, radial magnetic bearing 8, radial-direction position sensor 6, axial passive magnetic suspension bearing from inside to outside
5, motor 4, wherein flyball 2,8 rotor portion of radial magnetic bearing, axial passive 5 rotor portion of magnetic suspension bearing and electricity
4 rotor portion of machine form fly wheel system rotor assembly, remaining is stator module, stator assembly and rotor assembly between pass through diameter
The stable suspersion that on-mechanical contacts is realized to magnetic suspension bearing 8 and axial passive magnetic suspension bearing 5, wherein radial magnetic bearing
8 stationary part and the axial passive stationary part of magnetic suspension bearing 5, radial-direction position sensor 6, are protected the stationary part of motor 4
Shield bearing 1 and capsul 3 link together with axle bed 7, protect and form portable protective gaps between bearing 1 and flyball 2, and radial position passes
Radial detection gap is formed between sensor 6 and flyball 2；Frame system is mainly by bracket 9, turntable 10, torque motor 11, bearing
13, sleeve 14, locknut 15, conducting slip ring 16, photoelectric code disk 17, end cap 19 and pedestal 12 form, wherein bracket 9, turntable 10, power
The rotor portion of torque motor 11, the rotating part of photoelectric code disk 17, the rotating part of conducting slip ring 16 and bearing 13 inner ring
It is connected to form the rotating part of frame system, remaining is stationary part, and bracket 9 is connected with turntable 10, is conductive in the middle part of turntable 10
Sliding 18,10 downside of turntable is sequentially installed with the rotating part, sleeve 14, the inner ring of bearing 13, power of conducting slip ring 16 from the inside to surface
The rotating part of torque motor 11, the rotating part of photoelectric code disk 17 and locknut 15,12 inside of pedestal are successively installed from outside to inside
The effectively stationary part of the stationary part of torque motor 11, the outer ring of bearing 13, the stationary part of photoelectric code disk 17, conducting slip ring 16
And end cap 18, bracket 9 are connected with the axle bed 7 of fly wheel system, keep fly wheel system and frame system group integral, fly wheel system and
Frame system up and down connect, supporting point only one, fly wheel system is completely disposed at the outside of frame system, to realize single-ended
Support.
Radial magnetic bearing 8 of the invention is the magnetic bearing of on-mechanical contact, is the active of permanent magnet bias, Electromagnetic Control
Formula magnetic bearing, axial passive magnetic suspension bearing 5 are the magnetic bearing of on-mechanical contact, are permanent magnetism passive type magnetic bearing.
Radial magnetic bearing shown in fig. 6 is located in the middle part of fly wheel system, is located at radial-direction position sensor 6 and protection bearing
Between 1, as shown in figure 4, mainly by magnetic suspension bearing external stator iron core 81, rotor core 82, permanent magnet 83, interior fixed core 84,
Magnetizing coil 85 forms, and wherein magnetic suspension bearing rotor iron core 82, permanent magnet 83 are rotating part, remaining is stationary part；Its
Function be realize fly wheel system stator assembly and rotor assembly between the non-contact stable suspersion of radial direction.
The passive magnetic suspension bearing of axial direction shown in Fig. 7 is located at the outside of the radial magnetic bearing 8 of fly wheel system, such as Fig. 4
It is shown, mainly it is made of stator permanent magnet 51, rotor permanent magnet 52, rotor permanent magnet is rotating part, remaining is stationary part,
The function of axial passive magnetic suspension bearing be realize fly wheel system stator assembly and rotor assembly between axial direction it is non-contact steady
It is fixed to suspend.
Radial-direction position sensor 6 used in fly wheel system of the invention is structure shown in Fig. 8.Diameter shown in Fig. 8
Into displacement sensor, it is mainly made of four radial displacement transducer probes 61,62,63,64, wherein 61 and 62 edges of probe
X-direction 180 degree is placed, and to detect the position signal of X-direction, probe 63 and 64 is placed along Y-direction 180 degree, to detect the side Y
To position signal, the preamplifier in this 4 channels and pop one's head in integrated, can detect the variation of radial clearance in time,
Detection signal is issued to additional controller, the radial magnetic bearing of the fly wheel system shown in Fig. 4 of radial-direction position sensor 6 it is outer
Side.
Motor 4 of the invention is the drive part of fly wheel system rotor assembly, positioned at the outside of fly wheel system shown in Fig. 4,
4 specific structure of motor is as shown in figure 9, mainly by motor outer rotor lamination 41, magnetic steel of motor 42, motor internal rotor lamination 44, cup
Shape stator 43 forms, and wherein cup-shaped stator 43 is motor stationary part, remaining is motor rotating part, and the function of motor 4 is to drive
The rotor assembly high speed rotation of dynamic fly wheel system, constant angular momentum is provided by rotor assembly.
Torque motor 11 of the invention is the drive part of frame system, and driving fly wheel system rotation is located at frame shown in Fig. 4
The outside of frame system can be permanent-magnet brushless DC torque motor shown in Fig. 10, be also possible to permanent magnet synchronous torque motor.
Torque motor shown in Fig. 10 is mainly by motor stator lamination 111, stator winding 112, rotor magnetic steel 113, rotor
Lamination 114, threaded pressure ring 116, rotor installation set 115 form, and wherein stator lamination 111 and stator winding 112 are torque motor
Stationary part, remaining is rotating part.
The pedestal 12 of frame system of the invention is the supporter of whole system, and provides for whole system and spacecraft
Mechanical interface.
The content that description in the present invention is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (6)
1. a kind of magnetic suspension control torque gyroscope device, it is characterised in that: mainly by fly wheel system and frame system two large divisions
Composition, wherein fly wheel system is mainly by flyball (2), radial magnetic bearing (8), radial-direction position sensor (6), axial passive magnetic
Suspension bearing (5), motor (4), protection bearing (1), capsul (3) and axle bed (7) composition, protection bearing (1) are in flywheel
Middle part, two sides are capsul (3) and axle bed (7), and two sides are successively flyball (2), radial magnetic bearing up and down for protection bearing (1)
(8), radial-direction position sensor (6), axial passive magnetic suspension bearing (5), motor (4), wherein flyball (2), axial magnetic axis
Hold (8) rotor portion, axial passive magnetic suspension bearing (5) rotor portion and motor (4) rotor portion composition fly wheel system
Rotor assembly, remaining is stator module, stator assembly and rotor assembly between by radial magnetic bearing (8) and it is axial passively
Magnetic suspension bearing (5) realizes the stable suspersion of on-mechanical contact, wherein the stationary part of radial magnetic bearing (8) and axial quilt
The dynamic stationary part of magnetic suspension bearing (5), the stationary part of motor (4), radial-direction position sensor (6), protection are bearing (1) and close
Capsule (3) links together with axle bed (7), protects and forms radial protection gap and axial direction between bearing (1) outer ring and flyball (2)
Portable protective gaps form radial detection gap between radial-direction position sensor (6) and flyball (2)；Frame system is mainly by bracket
(9), turntable (10), torque motor (11), bearing (13), sleeve (14), locknut (15), conducting slip ring (16), photoelectric code disk
(17), end cap (18) and pedestal (12) form, wherein rotor portion, the photoelectricity of bracket (9), turntable (10), torque motor (11)
The rotating part of the rotating part of code-disc (17), the rotating part of conducting slip ring (16) and bearing (13) is connected to form frame system
The rotating part of system, remaining is stationary part, and bracket (9) is connected with turntable (10), is conducting slip ring (16) in the middle part of turntable (10),
It is outward successively sleeve (14), bearing (13), locknut (15), photoelectric code disk (17) and end cap (18), turntable (10) downside is from inner
To rotating part, sleeve (14), the rotating part of bearing (13), the torque motor (11) for being sequentially installed with conducting slip ring (16) outside
Rotating part, photoelectric code disk (17) rotating part and locknut (15), be sequentially installed on the inside of pedestal (12) from outside to inside
The stationary part of torque motor (11), the stationary part of bearing (13), the stationary part of photoelectric code disk (17), conducting slip ring (16)
Stationary part and end cap (18), bracket (9) is connected with the axle bed (7) of fly wheel system, makes fly wheel system and frame system group
Integrally, torque motor (11) and photoelectric code disk (17) are mounted in parallel with bearing (13).
2. a kind of magnetic suspension control torque gyroscope device according to claim 1, it is characterised in that: the radial magnetcisuspension
Floating axle holds the active magnetic bearing that (8) are permanent magnet bias, Electromagnetic Control.
3. a kind of magnetic suspension control torque gyroscope device according to claim 1, it is characterised in that: described is axial passive
Magnetic suspension bearing (5) is permanent magnetism passive magnetic bearing.
4. a kind of magnetic suspension control torque gyroscope device according to claim 1, it is characterised in that: the radial magnetcisuspension
Floating axle holds (8) and axial passive magnetic suspension bearing (5) is the symmetrical structure or the unequal unsymmetrical knot of magnetic force of magnetic picture etc.
Structure.
5. a kind of magnetic suspension control torque gyroscope device according to claim 1, it is characterised in that: the motor (4)
No longer contain mechanical bearing, radial magnetic bearing (8), axial passive magnetic suspension bearing (5) are that motor (4) play radial direction and axis
To support positioning action.
6. a kind of magnetic suspension control torque gyroscope device according to claim 1, it is characterised in that: the torque motor
It (11) is brushless D. C. torque motor or permanent magnet synchronous torque motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710280178.XA CN107097978B (en) | 2017-04-26 | 2017-04-26 | A kind of magnetic suspension control torque gyroscope device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710280178.XA CN107097978B (en) | 2017-04-26 | 2017-04-26 | A kind of magnetic suspension control torque gyroscope device |
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| CN107097978A CN107097978A (en) | 2017-08-29 |
| CN107097978B true CN107097978B (en) | 2019-08-06 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107741746B (en) * | 2017-10-13 | 2020-10-16 | 北京航空航天大学 | Frame system for control moment gyroscope |
| CN107813963B (en) * | 2017-10-16 | 2020-07-28 | 北京航空航天大学 | Single-frame control moment gyro with full-suspension double-end support |
| CN108591750B (en) * | 2018-05-10 | 2020-11-10 | 中国科学院国家天文台南京天文光学技术研究所 | Large-sized precise magnetic suspension rotary worktable |
| CN109597438B (en) * | 2018-11-30 | 2021-09-24 | 上海航天控制技术研究所 | Control moment gyro |
| CN109781085A (en) * | 2018-12-09 | 2019-05-21 | 西安航天精密机电研究所 | A kind of three float-type gyroscopes of miniaturization |
| CN110654573B (en) * | 2019-09-11 | 2021-02-23 | 上海航天控制技术研究所 | Single-point reliability redundancy method of photoelectric encoder for satellite |
| CN110748563B (en) * | 2019-09-29 | 2020-12-25 | 肇庆市衡艺实业有限公司 | Magnetic suspension device and rotary lifting mechanism thereof |
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|---|---|---|---|---|
| WO1995001279A1 (en) * | 1993-07-02 | 1995-01-12 | Honeywell Inc. | Touchdown and launch-lock apparatus for magnetically suspended control moment gyroscope |
| CN101049861A (en) * | 2007-04-16 | 2007-10-10 | 北京航空航天大学 | Completely non - contacting magnetic suspension control moment gyro of single framework |
| CN101049860A (en) * | 2007-04-16 | 2007-10-10 | 北京航空航天大学 | Single end support type magnetic suspension control moment gyro of single framework |
| CN101301934A (en) * | 2008-04-22 | 2008-11-12 | 北京航空航天大学 | Double-frame magnetic suspension control moment gyroscope control system |
| EP2154071A1 (en) * | 2008-07-29 | 2010-02-17 | Thales | Gyroscopic actuator device with magnetic suspension |
| CN104176277A (en) * | 2014-08-06 | 2014-12-03 | 北京航空航天大学 | Four-free degree double-frame magnetically suspended control moment gyro |
-
2017
- 2017-04-26 CN CN201710280178.XA patent/CN107097978B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1995001279A1 (en) * | 1993-07-02 | 1995-01-12 | Honeywell Inc. | Touchdown and launch-lock apparatus for magnetically suspended control moment gyroscope |
| CN101049861A (en) * | 2007-04-16 | 2007-10-10 | 北京航空航天大学 | Completely non - contacting magnetic suspension control moment gyro of single framework |
| CN101049860A (en) * | 2007-04-16 | 2007-10-10 | 北京航空航天大学 | Single end support type magnetic suspension control moment gyro of single framework |
| CN101301934A (en) * | 2008-04-22 | 2008-11-12 | 北京航空航天大学 | Double-frame magnetic suspension control moment gyroscope control system |
| EP2154071A1 (en) * | 2008-07-29 | 2010-02-17 | Thales | Gyroscopic actuator device with magnetic suspension |
| CN104176277A (en) * | 2014-08-06 | 2014-12-03 | 北京航空航天大学 | Four-free degree double-frame magnetically suspended control moment gyro |
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| CN107097978A (en) | 2017-08-29 |
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