Peripherally-actuated auxiliary moment generator for under-actuated system

Abstract

The invention discloses a peripherally-actuated auxiliary moment generator for an under-actuated system and belongs to electromagnetic moment type moment generators. The peripherally-actuated auxiliary moment generator for the under-actuated system is characterized by comprising a shell, a magnet set, an armature winding, a front end cover, a rear end cover, a motor, a motor support and a load, wherein the shell is in matched connection with the under-actuated system through a gear, a cam or an impeller. By the aid of the electromagnetic induction principle, the motor is used for actuating the armature winding to rotate in the magnetic field so as to generate the electromagnetic torque opposite to the motor actuating direction, and the magnet set is subjected to the reactive electromagnetic torque opposite to and as equal as the electromagnetic torque of the armature winding so as to provide required moment for the under-actuated system. Particularly, the moment provided by the device is in direct proportion to the velocity, so that control difficulty is remarkably reduced. The peripherally-actuated auxiliary moment generator for the under-actuated system is simple and reliable in design and clear in structure, can be applied to attitude adjustment of one-wheeled robots, satellites, space shuttles and missiles and can also be applied to the fields of overcoming of reactive torque of helicopters or butterfly air vehicles.

Description

technical field [0001] The invention relates to an experimental device for scientific research or teaching, in particular to an underactuated system peripheral driven auxiliary torque generator, which can provide the required torque for the underactuated system and is widely used in the lateral attitude of a one-wheeled robot Adjustment, unicycle robot steering, satellite attitude adjustment, spacecraft attitude adjustment, missile attitude adjustment, helicopter or butterfly aircraft main propeller anti-torque overcoming and other fields. Background technique [0002] Due to the lack of direct acting force or moment, the underactuated system brings great difficulty to the system control. For example, a one-wheeled robot cannot provide lateral moment because only one wheel is in contact with the ground, and ordinary wheels can only move forward and backward. The steering of a one-wheeled robot also requires torque; satellites, spacecraft, and missiles all need torque to driv...

AI Technical Summary

Problems solved by technology

[0003] Documents "Research on Modeling and Control of One-wheeled Self-balancing Robot" and "Research on Attitude Control of One-wheeled Robot" disclosed a scheme to control the side balance of a one-wheeled robot by using an inertial flywheel. Research on Control Methods of Science and Technology” discloses the scheme of using the inertial flywheel to control the steering of a one-wheeled robot. The way that the inertial flywheel provides reverse torque is also widely used in satellite attitude adjustment. It is difficult because the reaction torque provided by the rotation of the inertial flywheel is proportional to the rotational acceleration of the flywheel, and the motor is a speed servo system, so it is not easy to track the acceleration. When the flywheel rotates at a constant speed, there is no reaction torque generated, and Due to the limitation of motor speed, the amount of reaction torque provided is also limited

Images