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Attitude angle rate measurement method based on magnetic suspension control moment gyroscope

A technology for controlling moment gyroscopes and measuring methods, applied in directions such as rotating gyroscopes, and can solve problems such as ectopic control

Active Publication Date: 2014-12-10
PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV +1
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Problems solved by technology

[0005] The problem solved by the technology of the present invention is: in order to overcome the problems of the existing spacecraft attitude control system, such as the misalignment control caused by detection and control, a method of attitude measurement based on the magnetic levitation control moment gyroscope is proposed

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[0101] specific implementation plan

[0102] The implementation object of the present invention is as figure 1 As shown, the installation position of the radial magnetic bearing is symmetrical with respect to the center of mass of the rotor, and the four radial magnetic bearings (represented by ax, ay, bx, and by respectively) control the two radial translational degrees of freedom and two rotational degrees of freedom of the magnetic levitation rotor. The resultant torque of the single-frame maglev CMG rotor in the mechanism is caused by the rotation of the spacecraft, the rotation of the gyro frame, and the deflection of the rotor. Specific embodiments of the present invention are as Figure 4 As shown, the specific implementation steps are as follows:

[0103] (1) According to the principle of rigid body dynamics and coordinate transformation, the dynamics equation of the maglev rotor is established as follows:

[0104] M r ...

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Abstract

The invention relates to an attitude angle rate measurement method based on a magnetic suspension control moment gyroscope. The attitude angle rate measurement method is capable of simultaneously carrying out spacecraft attitude control and spacecraft attitude angle rate measurement. The attitude angle rate measurement method based on the magnetic suspension control moment gyroscope comprises the following steps: building a magnetic suspension rotor dynamical model according to rigid body dynamics and the principle of coordinate transformation; indirectly obtaining an applied moment on a magnetic suspension rotor when a spacecraft and a framework rotate by using resultant moment born by the magnetic suspension rotor and a deflection moment of the magnetic suspension rotor when the spacecraft and the framework are static, wherein the resultant moment and the deflection moment are convenient to be directly measured and calculated; showing an analytical expression of the attitude angle rate of the spacecraft by using the magnetic suspension control moment gyroscope in a rectangular pyramid actuation mechanism according to an inertia moment theorem and an attitude measurement integration principle. The attitude angle rate measurement method based on the magnetic suspension control moment gyroscope is capable of replacing a rate gyroscope of a conventional attitude control system and reducing the volume and the weight of the attitude control system, belongs to the technical field of aerospace control and can be applied to high-accuracy spacecraft attitude control and measurement.

Description

technical field [0001] The invention relates to a state measurement method based on a magnetic levitation control moment gyroscope (Control Moment Gyroscope-CMG), which is suitable for attitude measurement of spacecraft. technical background [0002] CMG is the key actuator for attitude control of large spacecraft such as space maneuvering platforms and space stations. Magnetic levitation CMG has the characteristics of high speed, no contact, no friction, low power consumption, long life, high reliability, and high control accuracy. Significant advantages Magnetic levitation CMG has become an important development direction of CMG. [0003] The CMG is mainly composed of a constant-speed rotor and a frame servo system. By rotating the frame, the angular momentum of the rotor is changed forcibly, thereby outputting the gyro torque to realize the attitude control of the spacecraft. At present, the attitude detection of the spacecraft is mainly to add a rate gyro to the spacecr...

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Application Information

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IPC IPC(8): G01C19/42
CPCG01C19/42
Inventor 任元王平赵玉龙陈晓岑王卫杰王华邵琼玲汪洲李新洪王盛军
Owner PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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