KR101654282B1 - Control moment gyro adapting multy momentum wheel assembly - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a control moment gyro applying a multiple momentum wheel assembly, and more particularly, to a control moment gyro using a plurality of symmetrically arranged MOMENTUM WHEEL ASSEMBLY (hereinafter referred to as 'MWA' The control is performed by controlling the rotational speed of each flywheel of each MWA to quickly arrange the rotational angular position when the disturbance occurs and control the posture by controlling the rotational angle of each flywheel of each MWA by controlling the posture with the torque generated by rotating with a gimbal motor in the direction of the rotational axis, MWA Mission Failure Attempts A control moment gyro that applies multiple momentum wheel assemblies that not only can maintain high reliability, but can also generate sufficient torque in a compact manner.
According to the control moment gyros applied to the multi-momentum wheel assembly of the present invention, since the four MWAs can generate a sufficiently large torque sum, even if the size or diameter of the flywheel included in the MWA is small, In spite of the limitations, it is possible to carry out the task of attitude control even if only one of the four is operated because the MWA can be controlled with high performance and each MWA can be controlled independently. And the disturbance can be driven so that the angular velocities of the MWAs existing on the same axis can be canceled each other when the disturbance occurs. Therefore, it is possible to maintain the angular momentum of the MWA while reducing disturbance, By controlling the phase angle of rotation, the total disturbance can be minimized so that attitude control performance is maintained Such as enabling the satellite or the controlled object to perform the correct mission.

Description

{CONTROL MOMENT GYRO ADAPTING MULTIMOMENTUM WHEEL ASSEMBLY}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a control moment gyro applying a multiple momentum wheel assembly, and more particularly, to a control moment gyro using a plurality of symmetrically arranged Momentum Wheel Assemblies (MWA) The control is performed by controlling the rotational speed of each flywheel of each MWA to quickly arrange the rotational angular position when the disturbance occurs and control the posture by controlling the rotational angle of each flywheel of each MWA by controlling the posture with the torque generated by rotating with a gimbal motor in the direction of the rotational axis, MWA Mission Failure Attempts A control moment gyro that applies multiple momentum wheel assemblies that not only can maintain high reliability, but can also generate sufficient torque in a compact manner.

In general, aerospace vehicles use an external momentum exchange system and an internal momentum exchange system to control the posture.

The driving device of the external momentum exchange type includes a truster or a magnetic torquer and the driving device of the internal momentum exchange type includes a reaction wheel and a control moment gyro CMG ").

In order to perform attitude control of an aerospace vehicle more precisely and for a long time, a driving device of internal momentum exchange type is mainly used. In the case of the reaction wheel, torque is generated in only one dimension fixed direction per one driving device Respectively.

In case of CMG, in case of a single gimbal, it is possible to generate the torque in the one-dimensional direction when the rotational speed of the flywheel is fixed and torque in the two-dimensional direction when the speed is variable.

However, in order to control the attitude of the aerospace body in arbitrary three-dimensional directions, control torque should be generated in an arbitrary direction in the three-dimensional space.

Therefore, CMG is three-dimensionally arranged and operated for three-dimensional control of satellites.

Each of these CMGs has been disclosed in Korean Patent Application Publication No. 0957240, Laid-Open Patent Publication Nos. 2012-0076895, 2009-0069482, and 2009-0116690.

In the conventional CMG, a gimbal housing is formed on the upper part of a gimbal body, a gimbal wheel rotatable by a bearing is formed in the gimbal housing, A Momentum Wheel Assembly (hereinafter referred to as 'MWA') having a base formed at an upper end of a gimbal wheel and having a fly wheel for generating rotational momentum is formed and attached to a gimbal body Thereby controlling the posture of the controlled object.

However, the conventional CMG has the following problems.

(1) In order to obtain sufficient torque, the diameter must be increased in order to increase the rotational angular velocity or to increase the amount of angular momentum of the flywheel. Due to various limitations of the space and weight of the controlled object, It is limited and can not perform properly.

(2) Since there is only one MWA, if the MWA fails in space flight, the entire aerospace body may not be able to perform its mission, which reduces the credibility of the aerospace itself.

(3) When disturbance occurs due to various reasons such as mass unbalance of the flywheel and bearing tolerance, it causes many obstacles to the performance of the mission.

In order to solve the conventional problem, a gimbal housing is formed on an upper part of a gimbal body, a gimbal wheel is fixed to the gimbal housing by a bearing, A tread portion on which the tread portion is formed;

A fixing part having a base formed on an upper end of a load wheel of the luggage compartment and an 'I' shaped fixing member having fixing grooves formed on both sides of the upper end of the luggage compartment;

And four MWAs symmetrically fixed to both sides of the fixing member of the fixing unit,

Each of the MWAs includes a lower case fixed to a side surface thereof; A control board fixed to the lower case; A drive motor controlled by the control board; A flywheel that is rotated by the drive motor; And a housing that surrounds the entire body.

The control moment gyro employing the multiple momentum wheel assembly of the present invention produces the following effects.

(1) Since the four MWAs can produce a sufficiently large torque, even if the size of the flywheel included in the MWA, that is, the diameter of the MWA, is small, it exhibits a large performance in spite of the limitation of the space and weight existing inside the control object.

(2) Since each of the four MWAs can be individually controlled, even if only one of them operates, attitude control can be performed, which increases the reliability of the space flight aerospace itself.

(3) When the disturbance occurs at an allowable level or more, the increase in the rotational angular velocity of each MWA can cancel each other, thereby reducing the rotational speed of the specific disturbance generating wheel while maintaining the total angular momentum, Since the disturbance can be minimized by controlling the angle, the satellite or the control object can be accurately performed while maintaining the attitude control performance.

1 is a perspective view of a control moment gyro applying a multiple momentum wheel assembly formed in accordance with a preferred embodiment of the present invention;
2 is a perspective view of a load-bearing portion of a control moment gyro applying a multiple momentum wheel assembly formed in accordance with a preferred embodiment of the present invention.
3 is a perspective view of a fixed portion of a control moment gyro applying a multiple momentum wheel assembly formed in accordance with a preferred embodiment of the present invention.
4 is an exploded perspective view of a MWA of a control moment gyro applying a multiple momentum wheel assembly formed in accordance with a preferred embodiment of the present invention.
5 is an exploded perspective view of a control moment gyro employing a multiple momentum wheel assembly formed in accordance with a preferred embodiment of the present invention;

A gimbal housing 120 is formed on a top of a gimbal body 110 and a gimbal wheel 120 is fixed to the gimbal housing 120 by a bearing. , 130) are formed;

Shaped fixing member 220 having a base 210 formed on the upper end of the load wheel 130 of the docking station 100 and a fixing groove 222 formed on the upper end of the base 210, A fixing part 200 formed with a fixing part 200;

And four MWAs 300 symmetrically fixed to both sides of the fixing member 220 of the fixing unit 200,

Each of the MWAs 300 includes a lower case 310 fixed to a side surface thereof; A control board 320 fixed to the lower case 310; A driving motor 330 controlled by the control board 320; A flywheel 340 rotated by the driving motor 330; And a housing 350 which surrounds the entire body.

The gimbal housing 120 of the gimbal 100 is formed with a gimbal body 110 at a lower end and a gimbal housing 120 is formed at the center of the upper portion of the gimbal body 110.

A gimbal control board is formed inside the gimbal housing 120, and the gimbal control board is responsible for power supply and control of the entire equipment.

At the upper end of the gimp body 110, a bearing is formed so as to be able to rotate while flowing from the floor, and a load wheel 130 is formed at an upper end of the bearing.

The load wheel 130 is formed to be able to be driven at a constant rotation angle and rotational speed in the torque direction generated by the resultant force by the four MWAs 300.

A fixed portion 200 is formed on the upper end of the load wheel 130 so as to rotate integrally with the fixed portion 200. The fixed portion 200 includes a base 210 fixed to the upper end of the load wheel 130; And a fixing member 220 formed at an upper end of the base 210.

The fixing member 220 is formed so as to be separated into upper and lower portions. The fixing member 220 is formed in an 'I' shape. The center portions of both sides of the fixing member 220 are arc-shaped and curved. 222 are formed on both sides.

A total of four MWAs 300 are formed on each side of the fixing member 220 of the fixing unit 200. The MWAs 300 are respectively controlled by the control boards 320 .

Each MWA 300 includes a lower case 310; A control board 320 attached to the lower case 310; A driving motor 330 connected to the control board 320; A flywheel 340 rotated by the driving motor 330; And a housing 350 which surrounds the entire body.

The lower case 310 is formed with a plurality of flanges 312 protruding in the outer circumferential direction. When the lower case 310 symmetrically engages with another MWA 300, the lower end faces of the lower case 310 are attached to each other, 312).

The flange 312 to which the lower end case 312 of the pair of MWAs 300 is coupled is inserted and fixed in the fixing hole 222 of the fixing member 220.

The control board 320 controls the rotation angle of the flywheel 340 by controlling the rotation of the driving motor 330 and the control board 320 of each MWA 300 is formed inside the gimbal housing 120 It is connected to the gimbal control board and controlled respectively.

The flywheel 340 is formed with a middle wheel support portion 342 and a spinner weight portion 344 composed of a weight portion while being supported by the wheel support portion 342.

Hereinafter, the operation of the control moment gyro using the multiple momentum wheel assembly formed as a preferred embodiment of the present invention will be described.

In the present invention, the gimbal body 110 is attached to the control object and power is supplied to the gimbal control board of the gimbal body 110 to prepare it.

Then, each of the four MWAs 300 is operated by each control board 320. At this time, each of the MWAs 300 is controlled by each control board 320, and the gimbals control board controls them to indicate the size of the resultant as a whole.

At this time, even if the flywheel 340 is in an unstable state due to the failure of posture control or disturbance, the rotation speed of the flywheel 340 of each MWA 300 is adjusted to cancel the disturbance, have.

If a fault occurs in any one of the four MWAs 300, the rotational angular velocity of the flywheel 340 of the remaining MWA 300 is adjusted so that an appropriate rotation angle of the proper load wheel 130 can be set.

Even if only one of the MWAs 300 is operated, the CMG can operate and reliability is increased.

In addition, since the MWA 300 generates a very stable torque, the MWA 300 is manufactured over a long period of time. Since a plurality of the MWAs 300 with high operation reliability are configured at the same time, a highly reliable operation can be expected.

In the present invention, the number of MWAs 300 is limited to four, but the MWAs 300 may be configured to be symmetrically rotated in parallel.

According to the control moment gyros applied to the multi-momentum wheel assembly of the present invention, since the four MWAs can generate a sufficiently large torque sum, even if the size or diameter of the flywheel included in the MWA is small, In spite of the limitations, it is possible to carry out the task of attitude control even if only one of the four is operated because the MWA can be controlled with high performance and each MWA can be controlled independently. When the disturbance is allowed to exceed the allowable range, the increase in the rotational angular velocity of each MWA can cancel each other, thereby reducing the rotational speed of the specific disturbance generating wheel while maintaining the total angular momentum, The disturbance can be minimized by canceling the disturbance, Such as the effect that the controlled object can perform an accurate mission.

Even if the diameter of each flywheel 340 of each of the four MWAs 300 is reduced, a torque can be generated by a sum of the angular momentum amounts constituted by a plurality of angular motion amounts, so that a very stable and precise attitude control can be achieved.

The present invention is not limited to an aerospace vehicle, but can be applied to all equipment that is operated on the ground, on the sea, etc. and requires posture control since it can generate a large torque with a small size.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art without departing from the scope of the invention as defined by the appended claims.

100: Gripping portion 110: Gripping body
120: Gimbal housing 130:
200: fixing part 210: base
220: fixing member 222: fixing groove
300: MWA 310: Lower case
320: control board 330: drive motor
340: flywheel 342: wheel support
344: Spinner weight portion 350: Housing

Claims (5)

delete A gimbal housing is formed on an upper portion of a gimp body, and a gimbal wheel is fixed to the gimp housing and fixed to the gimbal housing to form a rotatable gimbal wheel.
A fixing part having a base formed on an upper end of a load wheel of the luggage compartment and an 'I' shaped fixing member having fixing grooves formed on both sides of the upper end of the luggage compartment;
And four MWAs symmetrically fixed to both sides of the fixing member of the fixing unit,
Each of the MWAs includes a lower case fixed to a side surface thereof; A control board fixed to the lower case; A drive motor controlled by the control board; A flywheel that is rotated by the drive motor (330); And a housing that surrounds the entirety of the motor shaft. The control moment gyro employs the multiple momentum wheel assembly. delete 3. The method of claim 2,
Wherein each of the MWAs is fixed to the left and right sides of the fixing member by a pair of lower surfaces thereof being in contact with each other, and is controlled by the control member. 3. The method of claim 2,
The fixing member is formed to be separated into upper and lower portions. The fixing member is formed in an 'I' shape. The center portion of each side surface is curved in an arcuate shape. And the control moment gyro is applied to the multi-momentum wheel assembly.

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