Magnetic moment coupling geomagnetic micro-force generating device and attitude control method

Abstract

The application discloses a magnetic moment coupling geomagnetic micro-force generating device and belongs to the technical field of magnetic power. The device comprises a plurality of independently controlled coils, a magnetic concentrating sheet arranged at the bottom of the coils, a geomagnetic sensor for collecting real-time geomagnetic direction data and device posture data, a controller electrically connected with the geomagnetic sensor for receiving the geomagnetic direction data and the device posture data of the geomagnetic sensor and outputting control signals, a driving module electrically connected with the controller and the coils for receiving the control signals of the controller and adjusting the currents of the coils respectively, and a power supply module electrically connected with the controller, the geomagnetic sensor, the coils and the driving module for power supply. The application does not need superconducting, magnetic shielding, permanent magnets or high-frequency commutation, can work at normal temperature, and is suitable for ground micro-liter floating verification and space attitude control micro-propulsion double scenes. The application further discloses a posture control method of the magnetic moment coupling geomagnetic micro-force generating device.

Description

Technical Field

[0001] This invention relates to the field of magnetic dynamics technology, and in particular to a magnetic moment coupled geomagnetic micro-force generator and attitude control method. Background Technology

[0002] Microscale devices refer to miniaturized electromechanical systems with characteristic dimensions on the millimeter to centimeter scale and mass on the milligram to gram scale. They are widely used in fields such as microrobots, micro-nano satellites, micro-aircraft, and precision instruments. The power output of such devices typically relies on micromotors, piezoelectric actuators, or electromagnetic actuators. Among them, micromotors convert electrical energy into mechanical rotational motion through electromagnetic induction; piezoelectric actuators utilize the inverse piezoelectric effect of piezoelectric materials to generate micro-displacement and driving force through high-frequency vibration; and electromagnetic actuators generate an alternating magnetic field by energizing a coil, driving magnetic components to achieve reciprocating or rotational motion.

[0003] Currently, micromotors are limited by the machining precision and material properties at the microscale, resulting in a sharp decrease in output torque as the size decreases. Furthermore, mechanical friction and wear affect their lifespan and reliability. While piezoelectric actuators offer advantages such as fast response and high control precision, their small output stroke, high drive voltage, and high-frequency vibrations easily generate noise and fatigue failure, making it difficult to achieve continuous and stable directional torque output. Electromagnetic actuators typically require high-frequency magnetic pole commutation to generate pulsed torque, resulting in severe jitter, poor stability, complex control, and high energy consumption. They can only achieve small-amplitude oscillations or rotations and cannot generate continuous and stable directional torque.

[0004] Patent document CN111446888A discloses a Lorentz force levitation method based on an artificial magnetic field. This method involves setting up three orthogonal high-temperature superconducting coils on the host planet and adjusting the current in the coils to generate an artificial magnetic field in any direction. This causes the charged spacecraft to experience a Lorentz force within the artificial magnetic field, thereby achieving levitation. While this approach eliminates the need for chemical fuels, it suffers from several shortcomings: First, it relies on superconducting coils to generate an artificial magnetic field, requiring superconducting materials to operate in extremely low temperatures and necessitating a complex cryogenic refrigeration system. This makes engineering implementation extremely difficult and costly, hindering its widespread application in actual space missions. Second, it utilizes the Lorentz force within the artificial magnetic field, the magnitude and direction of which are limited by the spacecraft's charge, the fixed relationship between the artificial magnetic field direction and the spacecraft's velocity direction, resulting in limited controllability. Third, it only proposes a theoretical concept for high-orbit levitation observation, without addressing ground-based micro-lift verification scenarios or broader micro-propulsion applications such as attitude control and orbit fine-tuning, resulting in limited functionality. Fourth, by using an artificial magnetic field to replace the natural Earth's magnetic field for Lorentz levitation, it fails to directly utilize naturally occurring planetary magnetic field resources, leading to high system complexity and power consumption. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art: to provide a device that, without relying on superconductivity, permanent magnets, or high-frequency commutation, utilizes the natural geomagnetic field to simultaneously generate controllable rotational magnetic torque and translational coupling force, and realizes dual-mode functions of ground micro-lifting and space attitude control micro-propulsion in one device.

[0006] To achieve the above objectives, the present invention provides a magnetic moment coupling geomagnetic micro-force generator, comprising: Multiple coils, each of which is independently controlled; A magnetically focused sheet is disposed at the bottom layer of the coil to locally distort the natural magnetic field to form a non-uniform distribution of the magnetic field vector. Geomagnetic sensors are used to collect geomagnetic direction data and device attitude data in real time; The controller is communicatively connected to the geomagnetic sensor and is used to receive geomagnetic direction data and device attitude data from the geomagnetic sensor, and output control signals. The drive module is electrically connected to the controller and the coils, and is used to receive the control signal from the controller and adjust the current of each coil respectively, so that the total magnetic field formed by the multiple coils maintains the preset bias angle between the geomagnetic direction and the controller. The power supply module is electrically connected to the controller, the geomagnetic sensor, the coil, and the drive module, and is used to supply power.

[0007] Preferably, the plurality of coils are arranged in a cross-shaped orthogonal symmetrical layout, including a first group of coils arranged along a first axis and a second group of coils arranged along a second axis, wherein the first axis and the second axis are orthogonal to each other. In each group of coils, the two coils located on the same axis have currents in opposite directions and equal magnitudes to form a differential drive.

[0008] Preferably, the magnetic sheet is made of nanocrystalline soft magnetic material with a relative permeability μ 1.

[0009] Preferably, the geomagnetic sensor is a triaxial geomagnetic Hall sensor, which is connected to the controller via an IIC interface.

[0010] Preferably, the controller is an ultra-low power micro controller, and the drive module is a constant current drive chip.

[0011] To achieve the above objectives, the present invention also provides an attitude control method for a magnetic moment-coupled geomagnetic micro-force generator, which is implemented using the aforementioned magnetic moment-coupled geomagnetic micro-force generator and is characterized by comprising the following steps. S01: Using a magnetically concentrated sheet to locally distort the natural uniform geomagnetic field, causing the magnetic field lines of the geomagnetic field to deflect and rearrange in the area of ​​the magnetically concentrated sheet, forming a spatial gradient distribution of the geomagnetic direction; S02: Multiple coils are set in the geomagnetic field after it has been distorted by the magnetic sheet, and each coil is energized to generate a magnetic moment. The direction of the total magnetic field formed by the multiple coils is changed by adjusting the current ratio of each coil. S03: Real-time acquisition of geomagnetic direction data and device attitude data via geomagnetic sensors, and feedback to the controller; S04: The controller dynamically adjusts the current of each coil according to the real-time collected data, so that the total magnetic field formed by the multiple coils maintains the preset bias angle between the magnetic field and the geomagnetic direction, thereby so that the magnetic moment is simultaneously subjected to the effects of rotational magnetic torque and translational coupling force in the spatial gradient distribution of the geomagnetic direction.

[0012] Preferably, in step S04, the controller dynamically adjusts the current of each coil using a PID algorithm.

[0013] Preferably, the controller dynamically adjusts the current of each coil using a PID algorithm, including the following steps: S001: The system is powered on and initialized. The preset target magnetic field offset angle parameters are read, and the initialization of the geomagnetic sensor and drive module is completed. S002: Collect current geomagnetic vector component data and device attitude angle data through a geomagnetic sensor; S003: The controller calculates the actual offset angle between the current composite magnetic field and the geomagnetism based on the collected data; S004: The controller compares the actual offset angle with the preset target offset angle and calculates the angle deviation value; S005: The controller inputs the angle deviation value into the PID control algorithm to calculate the current correction value of each coil; S006: The controller outputs a control signal to the drive module according to the current correction value. The drive module adjusts the current of each coil so that the actual bias angle approaches and stabilizes at the target value.

[0014] As a further preferred embodiment, step S006 is followed by step S007: the controller determines whether a shutdown command has been received or whether the power supply module voltage is lower than a preset threshold. If neither is received, the controller returns to step S002 and continuously performs closed-loop adjustment using the currently adjusted actual bias angle as feedback, so that the total magnetic field and the geomagnetic direction maintain the preset bias angle of the controller. If a shutdown command is received or the power supply module voltage is lower than the preset threshold, the power supply to the coil is cut off.

[0015] Preferably, in step S04, the controller dynamically adjusts the current configuration of each coil according to the operating mode: In ground working mode, the rotational magnetic torques cancel each other out, the horizontal translational forces cancel each other out, and the vertical translational forces are superimposed in the same direction to output a vertical micro-lift force. In space operation mode, the rotating magnetic torque is output as attitude control torque and the translational coupling force is output as orbit fine-tuning thrust.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. For the first time, a magnetic moment coupling micro-force generation scheme based on natural geomagnetic distortion gradient is proposed. The magnetic thin sheet is used to locally distort the natural uniform geomagnetic field to form a non-uniform distribution of magnetic field vector. This allows the magnetic moment of the current-carrying coil to be subjected to both rotational magnetic torque and translational coupling force in the non-uniform magnetic field, breaking through the traditional cognitive limitation that "uniform geomagnetism can only generate magnetic torque and cannot generate translational force". 2. No high-frequency magnetic pole commutation is required. The direction of the magnetic field can be continuously controlled by adjusting the current intensity ratio of multiple coils. This fundamentally eliminates the jitter problem caused by pulse torque, significantly improves output stability, and reduces system energy consumption. 3. It operates at room temperature and pressure, without the need for superconductivity and magnetic shielding. It uses all room temperature electronic devices and magnetic thin sheets, without the need for superconducting low temperature conditions or magnetic shielding devices. It has strong engineering feasibility and low manufacturing cost, overcoming the fundamental defect of existing solutions that rely on superconducting low temperature environments. 4. It adopts a stacked ultra-thin packaging, which has a simple structure, small size and light weight. It can be directly attached to the surface of micro-scale devices such as micro-small aircraft and micro-nano satellites, and has good integration and adaptability. 5. It operates based on the natural geomagnetic environment, without the need to build a strong magnetic field, permanent magnets, tracks or bases, and the system is highly independent. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the spatial structure of the magnetic moment coupling geomagnetic micro-force generator in Embodiment 1 of the present invention; Figure 2 This is a flowchart of the control logic based on active bias control of geomagnetic vector in Embodiment 2 of the present invention; The labels in the diagram are explained as follows: 1-Triaxial geomagnetic Hall sensor; 2-Power supply module; 3-Microcontroller; 4-Sensing unit; 5-Composite electromagnetic group; 51-Coil; 52-Magnetic sheet. Detailed Implementation

[0018] The present invention will now be described in more detail with reference to the accompanying drawings. It should be noted that the following description of the present invention with reference to the accompanying drawings is merely illustrative and not restrictive.

[0019] Where possible, the various embodiments described below can be rearranged to form other embodiments not shown in the following description; the various technical features described below can also be rearranged to form other embodiments not shown in the following description.

[0020] Example 1 Please see Figure 1 To address the issues of poor stability and high energy consumption in existing magnetic actuators, this invention provides a magnetic moment-coupled geomagnetic micro-force generator for verifying the micro-levitation principle under normal temperature and pressure conditions on the ground. The device comprises a composite electromagnetic assembly 5, a sensing unit 4, and a power supply module 2. Through the synergistic effect of these three components, a closed-loop control structure of "geomagnetic force generation - torque generation - dynamic balance" is formed, achieving low power consumption, no jitter, and continuous stable magnetic torque output.

[0021] The composite electromagnetic assembly 5 includes a magnetically focused sheet 52 and multiple coils 51, each of which is an ultra-thin, flat coil. The multiple coils 51 are arranged symmetrically above the magnetically focused sheet 52 in a cross-orthogonal configuration, including a first group of coils 51 arranged along a first axis and a second group of coils 51 arranged along a second axis, the first and second axes being orthogonal to each other. Each coil 51 is independently controlled. Within each group of coils 51, two coils 51 located on the same axis have opposite current directions and equal magnitudes, forming a differential drive. In this embodiment, the first and second axes are the X-axis and Y-axis, respectively. Four coils 51 are arranged symmetrically in a cross-orthogonal configuration, designated as the X-axis positive coil 51, X-axis negative coil 51, Y-axis positive coil 51, and Y-axis negative coil 51. The two groups of coils 51 on the same axis (e.g., X-axis positive and X-axis negative) have opposite current directions and equal magnitudes, forming a differential drive mode. By independently adjusting the current intensity ratio of the X-axis and Y-axis coil groups 51, the direction of the total magnetic field of the composite electromagnetic group 5 can be continuously adjusted from 0° to 360° in the horizontal plane. Specifically, when the current of the X-axis coil group 51 is I... x The current of the 51 groups of Y-axis coils is I. y At that time, the direction angle of the total magnetic field θ = arctan(I y / I x ), by adjusting I x with I y The ratio of the two values ​​can be used to make the total magnetic field point in any preset direction.

[0022] A magnetic focusing sheet 52 is disposed at the bottom layer of coil 51 to locally distort and reshape the natural magnetic field, thereby forming a non-uniform distribution of the magnetic field vector. The magnetic focusing sheet 52 can be made of a high-permeability passive soft magnetic material to enhance the overall magnetic coupling effect and improve magnetic response capability, without requiring additional power supply. Alternatively, the magnetic focusing sheet 52 can be designed with active electronic control, using electrical signals to control the magnetic focusing effect. In this embodiment, the magnetic focusing sheet 52 uses a nanocrystalline soft magnetic material (relative permeability μ... 1) Passive magnetic conduction only. At the interface between the magnetic condensing sheet 52 and the air, because the permeability of the soft magnetic material is much greater than that of air, the static magnetic field boundary conditions of continuous tangential magnetic field strength and continuous normal magnetic induction intensity are satisfied. The magnetic field lines of the geomagnetic field are forcibly deflected and rearranged in the region of the magnetic condensing sheet 52, causing local distortion of the geomagnetic direction in the region where the coil 51 is located, forming a non-uniform distribution of the magnetic field vector space, i.e., a spatial gradient distribution of the geomagnetic direction. This process only changes the geomagnetic direction, not the geomagnetic amplitude (B0≈50μT at the Earth's surface). The magnetic condensing sheet 52 does not require an additional power supply, and the material cost is low and the processing is convenient. It should be noted that the uniform geomagnetic field itself (the magnetic field amplitude and direction are uniform, and the vector gradient is not uniform) is not a uniform magnetic field. B≈0) can only generate magnetic torque but not translational force; after distortion by the magnetically focused sheet 52, the magnetic field amplitude remains uniform, with only the geomagnetic direction showing a spatial gradient distribution. B≠0), thus providing a physical basis for the generation of magnetic moment translation coupling force, while the fundamental properties of the static magnetic field remain unchanged, that is, the natural geomagnetic field always satisfies ×B=0 (irrotational field) and B=0 (no end).

[0023] The composite electromagnetic wire assembly 5 is encapsulated in an ultra-thin manner using lightweight materials such as epoxy resin. The overall lightweight and ultra-thin design is achieved through a stacked layout. It can be directly mounted on the surface of micro-scale devices such as micro-aircraft and micro-nano satellites, and has good integration and adaptability.

[0024] The sensing unit 4 includes a geomagnetic sensor, a controller, and a drive module. The geomagnetic sensor collects geomagnetic direction data and device attitude data in real time. The controller is electrically connected to the geomagnetic sensor and is used to receive the geomagnetic direction data and device attitude data from the geomagnetic sensor and output control signals. The drive module is electrically connected to the controller and each coil 51 respectively. It is used to receive the control signals from the controller and adjust the current of each coil 51 respectively, thereby realizing the current intensity ratio of each coil 51, so that the total magnetic field formed by the composite electromagnetic group 5 always maintains a fixed bias angle with the geomagnetic direction.

[0025] In this embodiment, the geomagnetic sensor employs a MEMS triaxial geomagnetic Hall sensor 1 (with integrated temperature compensation function). The MEMS triaxial geomagnetic Hall sensor 1 communicates with the controller via an IIC interface and can acquire the component data of the geomagnetic vector in the three orthogonal directions of X, Y, and Z in real time. The controller can be an ultra-low power microcontroller 3, which has floating-point arithmetic capabilities to execute a PID closed-loop control algorithm and allocates the current ratio of the X-axis and Y-axis coil groups 51 accordingly, so that the total magnetic field direction of the composite electromagnetic group 5 is always consistent with the preset direction. The drive module can be a constant current drive chip, which can provide a stable current with extremely low ripple and fast response speed to each coil 51. The temperature compensation function ensures that the MEMS triaxial geomagnetic Hall sensor 1 maintains detection accuracy under the conditions of ground day and night temperature difference and temperature rise caused by coil 51 heating; the ultra-low power microcontroller 3 controls the operating current at the microamp level, significantly extending the battery power supply time; the constant current drive chip has high working efficiency and low heat generation, further reducing interference to the sensor temperature compensation circuit.

[0026] The power supply module 2 uses an ultra-thin micro soft-pack lithium battery, paired with a low dropout linear regulator (LDO), to provide stable and low-power power to the microcontroller 3, the MEMS triaxial geomagnetic Hall sensor 1, and the coil 51.

[0027] During operation of the device in this embodiment, steady-state magnetic torque and micro-thrust output are achieved through the following steps. Step 1: On the basic static magnetic field generated by the magnetically concentrated sheet 52, the composite electromagnetic group 5 passes currents of different intensities through the biaxial coil 51 to generate the total magnetic field vector in the target direction. Step 2: The triaxial geomagnetic Hall sensor 1 detects the geomagnetic direction and device attitude information at the current location in real time, and feeds it back to the microcontroller 3 through the IIC interface; Step 3: The microcontroller 3 calculates the actual offset angle between the current composite magnetic field and the geomagnetic field based on the real-time collected data, and compares it with the preset target angle; Step 4: The microcontroller 3 dynamically adjusts the current intensity ratio of each coil 51 through the PID algorithm, so that the total magnetic field of the composite electromagnetic group 5 always maintains a fixed bias angle with the earth's magnetism, thereby forming a continuous and stable lateral steady-state magnetic torque.

[0028] By using four coils 51 arranged in a cross-shaped orthogonal symmetrical configuration, the net rotational magnetic torque cancels out each other, the horizontal components of the translational force cancel out each other, and the vertical translational force is superimposed in the same direction, ultimately obtaining a stable vertical net micro-lift. Through real-time feedback from the triaxial geomagnetic Hall sensor 1 and PID closed-loop control of the microcontroller 3, the system has the ability to automatically suppress external disturbances (such as changes in device attitude, geomagnetic diurnal variations, etc.), ensuring that the bias angle remains stable near the preset value, thereby guaranteeing a continuous and stable output of magnetic torque and translational coupling force.

[0029] The device in this embodiment does not achieve heavy-load levitation, does not achieve anti-gravity, and does not violate the law of conservation of energy. The device inputs electrical energy P=I²R, and the energy conversion path is electrical energy → Joule thermal energy + magnetic torque mechanical energy + translational thrust mechanical energy. It requires continuous external power supply and there is no passive energy output.

[0030] The device in this embodiment uses all room-temperature components, requiring no superconductivity, no magnetic shielding, no permanent magnets, and no tracks. It has a simple structure and low cost, and can achieve steady-state levitation and slow drift in low-altitude and low-speed environments, providing a new approach for geomagnetic-assisted propulsion systems and microscale levitation technology.

[0031] Example 2 Continue reading Figures 1-2 Based on Embodiment 1, this embodiment provides an attitude control method for a magnetic moment coupled geomagnetic micro-force generator, comprising the following steps: S01: The magnetic field of the natural uniform geomagnetic field is locally distorted by the magnetic field sheet 52, so that the magnetic field lines of the geomagnetic field are deflected and rearranged in the region of the magnetic field sheet 52, forming a spatial gradient distribution of the geomagnetic direction. In this step, the static magnetic field boundary conditions of continuous tangential magnetic field strength and continuous normal magnetic induction intensity are satisfied at the interface between the magnetic field sheet 52 and the air. The magnetic field lines of the geomagnetic field are forcibly deflected, changing only the geomagnetic direction without changing the geomagnetic amplitude. S02: Multiple coils 51 are set in the geomagnetic field after being distorted by the magnetic thin sheet 52, and each coil 51 is energized to generate a magnetic moment. The direction of the total magnetic field formed by the multiple coils 51 is changed by adjusting the current ratio of each coil 51. S03: Real-time acquisition of geomagnetic direction data and device attitude data through a geomagnetic sensor and feedback to the controller. In this step, the geomagnetic sensor adopts a MEMS triaxial geomagnetic Hall sensor 1, which has an integrated temperature compensation function and communicates with the microcontroller 3 through the IIC interface. S04: The controller dynamically adjusts the current of each coil 51 according to the real-time collected data, so that the total magnetic field formed by multiple coils 51 maintains the preset bias angle between the magnetic field and the geomagnetic direction, so that the magnetic moment is simultaneously subjected to the effects of rotational magnetic torque and translational coupling force in the spatial gradient distribution of the geomagnetic direction. In this embodiment, the core physical principle upon which the above steps are based is as follows: (1) Magnetic moment generation and calculation: After each coil 51 is energized, a magnetic moment is generated. The magnitude of the magnetic moment of a single coil 51 is m = N × I × S, where N is the number of turns of coil 51, I is the working current of coil 51, and S is the effective area of ​​coil 51. The total magnetic moment is the vector summation of the magnetic moments of multiple coils 51.

[0032] (2) Vacuum permeability μ0 = 4π × 10 -7H / m, the amplitude of the natural geomagnetic field magnetic induction intensity B0≈50μT (surface) or B0≈20~50μT (near-Earth orbit), the magnetically concentrated sheet 52 is made of nanocrystalline soft magnetic material, with a relative permeability μ 1.

[0033] (3) Generation and control of rotating magnetic torque: The magnetic moment m of coil 51 will generate a rotating magnetic torque in any external magnetic field B. The calculation formula is τ = m × B, and the scalar amplitude form is τ = m·B·sinθ, where θ is the angle between the direction of the magnetic moment of coil 51 and the direction of the geomagnetic field. Therefore, a uniform geomagnetic field can generate torque. The magnetic focusing sheet 52 can flexibly control the magnitude and direction of the magnetic torque by changing the local geomagnetic direction θ.

[0034] (4) Conditions for the generation of translational coupling force: The magnetic moment m of coil 51 generates translational coupling force only in a non-uniform magnetic field (with a vector gradient). The calculation formula is F = (m· ... B. In a uniform geomagnetic field, the vector gradient B≈0, therefore there is no translational force; after distortion by the magnetically focused sheet 52, a spatial gradient distribution is generated in the geomagnetic direction ( B≠0), thus generating translational coupling force.

[0035] (5) Simultaneous output of torque and force: In the spatial gradient distribution of the geomagnetic direction, the magnetic moment is simultaneously subjected to the rotational magnetic torque τ = m×B and the translational coupling force F = (m· The functions of B and C are independent and can be used independently as needed. In ground mode, the vertical component of the translational coupling force is used to achieve micro-lifting, while in space mode, the rotational magnetic torque is the main means of attitude control, and the translational coupling force is used as a supplement to achieve orbital fine-tuning.

[0036] In step S04, the controller dynamically adjusts the current intensity ratio of each coil 51 using a PID algorithm, specifically including the following sub-steps: S001: The system is powered on and initialized. The preset target magnetic field bias angle parameter θ_actual is read, and the initialization of the triaxial geomagnetic Hall sensor 1 and the dual-axis constant current drive chip is completed. S002: Acquire the current geomagnetic vector using triaxial geomagnetic Hall sensor 1 ( The X, Y, and Z component data of the device are obtained, and the current attitude angle (α, β, γ) data of the device are obtained by combining the attitude sensor of the device. S003: After receiving the above-mentioned collected data, the microcontroller 3 calculates the actual offset angle θ_actual between the current composite magnetic field and the geomagnetic environment through mathematical modeling. This offset angle is the angle between the magnetic moment direction of coil 51 and the geomagnetic field direction, which is the key parameter that determines the magnitude of the magnetic torque (τ = m·B·sinθ_actual). S004: Compare the actual offset angle θ_actual calculated in step S003 with the target offset angle θ_target preset in S001, and calculate the angle deviation between the two, Δθ = θ_target - θ_actual; S005: Input the calculated angle deviation Δθ into the PID control algorithm for fast calculation to obtain the X-axis coil 51 current correction value and Y-axis coil 51 current correction value required to correct the magnetic field direction. S006: The microcontroller 3 outputs a control signal to the constant current drive chip according to the correction value, and adjusts the input current I of the X-axis coil 51 respectively. x Y-axis coil 51 input current I y By dynamically adjusting the current ratio I of the two axes y / I x By precisely changing the direction angle θ (i.e. the bias angle) of the synthesized magnetic field, the magnitude (τ = m·B·sinθ) and direction of the magnetic torque can be changed. S007: If no shutdown command is received and the battery voltage is normal, the current stable state is used as a feedback signal, and the system returns to step S002 to continue collecting new data for the next adjustment cycle; if a shutdown command is received or the battery voltage is detected to be below the threshold, the power supply to the dual-axis coil 51 is immediately cut off, the system is shut down, and safety protection is achieved.

[0037] By adjusting the current ratio as described above, the actual bias angle approaches and stabilizes near the target value (maintaining the target bias angle stable); under this stable state, the lateral steady-state magnetic torque continues to exist, thereby acting on the device to generate the required vertical lifting force.

[0038] This embodiment abandons the high-frequency magnetic pole commutation method in traditional magnetic drives. It can achieve dynamic bias control of the magnetic field direction by simply adjusting the current intensity ratio of the cross-shaped orthogonal coil 51. The PID closed-loop control ensures that the system has the ability to automatically suppress external disturbances.

[0039] Example 3 Continue reading Figures 1-2Based on Embodiment 1 or Embodiment 2, the device structure in this embodiment is the same as in Embodiment 1. The difference from Embodiment 2 lies in the parameter configuration and operating mode. This embodiment provides an application of a magnetic moment coupling geomagnetic micro-force generator in space mode for attitude control and orbit fine-tuning of near-Earth orbit spacecraft. The magnetically concentrated sheet 52 is made of nanocrystalline soft magnetic material with a relative permeability μ 1. The entire device employs aerospace-grade radiation-resistant electronic components to adapt to the space radiation environment. The amplitude of the natural geomagnetic field's magnetic induction intensity varies with orbital altitude, with B0≈20~50μT in near-Earth orbit.

[0040] Corresponding to steps S01 to S04 in Embodiment 2, after the device enters the track, the system performs the following steps: The magnetic condensing sheet 52 locally distorts the natural geomagnetic field in near-Earth orbit, forming a spatial gradient distribution of the geomagnetic direction. At the interface between the soft magnetic sheet and the space plasma environment, the static magnetic field boundary conditions are also satisfied, and the magnetic field lines of the geomagnetic field are forcibly deflected and rearranged in the region of the magnetic condensing sheet 52.

[0041] The cross-shaped orthogonal coil 51 generates a magnetic moment m = N×I×S when energized. The direction of the total magnetic field can be changed by independently adjusting the current ratio of each coil 51.

[0042] The three-axis geomagnetic Hall sensor 1 collects geomagnetic vector and device attitude data at the current location in real time, and feeds them back to the microcontroller 3 through the IIC interface.

[0043] The microcontroller 3 dynamically adjusts the current of each coil 51 using a PID algorithm, ensuring that the total magnetic field of the composite electromagnetic wire group 5 maintains the preset bias angle between itself and the geomagnetic direction. In the space mode of this embodiment, there is no need to cancel the rotating magnetic torque; the magnetic moment m of coil 51 simultaneously generates a rotating magnetic torque τ = m×B and a translational coupling force F = (m·B) in the spatial gradient distribution of the geomagnetic direction. B.

[0044] The scalar amplitude of the rotating magnetic torque τ = m × B is τ = m·B·sinθ, where θ is the angle between the direction of the magnetic moment of coil 51 and the direction of the Earth's magnetic field. In space mode, the magnitude of the magnetic torque can be continuously adjusted by changing the preset bias angle θ_target of the microcontroller 3, achieving precise control of the spacecraft's attitude. Simultaneously, the translational coupling force F = (m· B serves as an auxiliary thrust output for minor trajectory corrections. In this mode, there is no need to counteract the rotating magnetic torque; both force and torque are output as needed and are not coupled.

[0045] The microcontroller 3 synthesizes a three-axis magnetic torque by independently controlling the current of the cross-shaped orthogonal coil 51, thereby achieving omnidirectional attitude control of the spacecraft (including spin despinning, three-axis attitude stabilization, and high-precision pointing). Specifically, since the cross-shaped orthogonal coil 51 generates a vector magnetic field in the horizontal plane, the direction of the magnetic torque in the spacecraft's coordinate system can be changed by adjusting the set value θ_target of the offset angle. This, combined with the spacecraft's attitude motion, enables control of the roll, pitch, and yaw axes. Simultaneously, the translational coupling force is directly output for minor orbital corrections and position holding.

[0046] Differences between Space Mode and Ground Mode

[0047] In this embodiment, under near-Earth orbit conditions, the local distortion of the natural geomagnetic field by a nanocrystalline soft magnetic sheet causes the magnetic moment of coil 51 to be simultaneously subjected to rotating magnetic torque and translational coupling force within the geomagnetic spatial gradient. The same hardware performs two functions: the rotating magnetic torque serves as the core output for spacecraft attitude control, while the translational coupling force serves as an auxiliary output for orbit fine-tuning. No working propellant is required, superconducting cryogenics are unnecessary, and permanent magnets are not required; the system's lifespan is not limited by fuel. Compared to existing technologies, this invention integrates the two independent systems of the magnetic torquer (attitude control) and thruster (orbit control) in traditional satellites into a single system, significantly reducing the size, weight, and cost of the satellite attitude and orbit control system.

[0048] Employing civilian-grade or aerospace-grade room-temperature electronic components and soft magnetic materials, the device boasts mature processing technology and controllable manufacturing costs, enabling stable operation in ambient temperature and pressure or space environments. Its simple structure, small size, and light weight make it suitable for mass production, demonstrating clear industrial application prospects in areas such as ground-based microscale levitation technology verification, micro-aircraft auxiliary lift, and micro-nano satellite attitude control and micro-propulsion.

[0049] Although several specific embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are merely exemplary and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art are within the scope of protection claimed by the present invention.

Claims

1. A magnetic moment-coupled geomagnetic micro-force generating device, characterized in that, include: Multiple coils, each of which is independently controlled; A magnetically focused sheet is disposed at the bottom layer of the coil to locally distort the natural magnetic field to form a non-uniform distribution of the magnetic field vector. Geomagnetic sensors are used to collect geomagnetic direction data and device attitude data in real time; The controller is communicatively connected to the geomagnetic sensor and is used to receive geomagnetic direction data and device attitude data from the geomagnetic sensor, and output control signals. The drive module is electrically connected to the controller and the coils, and is used to receive the control signal from the controller and adjust the current of each coil respectively, so that the total magnetic field formed by the multiple coils maintains the preset bias angle between the geomagnetic direction and the controller. The power supply module is electrically connected to the controller, the geomagnetic sensor, the coil, and the drive module, and is used to supply power.

2. The magnetic moment coupling geomagnetic micro-force generator according to claim 1, characterized in that, The plurality of coils are arranged in a cross-shaped orthogonal symmetrical layout, including a first group of coils arranged along a first axis and a second group of coils arranged along a second axis, wherein the first axis and the second axis are orthogonal to each other. In each group of coils, the two coils located on the same axis have currents in opposite directions and equal magnitudes to form a differential drive.

3. The magnetic moment coupling geomagnetic micro-force generator according to claim 1, characterized in that, The magnetic condensing sheet is made of nanocrystalline soft magnetic material with a relative permeability μ 1.

4. The magnetic moment coupling geomagnetic micro-force generator according to claim 1, characterized in that, The geomagnetic sensor is a triaxial geomagnetic Hall sensor, which communicates with the controller via an IIC interface.

5. The magnetic moment coupling geomagnetic micro-force generator according to claim 1, characterized in that, The controller is an ultra-low power micro controller, and the drive module is a constant current drive chip.

6. An attitude control method for a magnetic moment-coupled geomagnetic micro-force generator, implemented using the magnetic moment-coupled geomagnetic micro-force generator according to any one of claims 1 to 5, characterized in that, Includes the following steps, S01: Using a magnetically concentrated sheet to locally distort the natural uniform geomagnetic field, causing the magnetic field lines of the geomagnetic field to deflect and rearrange in the area of ​​the magnetically concentrated sheet, forming a spatial gradient distribution of the geomagnetic direction; S02: Multiple coils are set in the geomagnetic field after it has been distorted by the magnetic sheet, and each coil is energized to generate a magnetic moment. The direction of the total magnetic field formed by the multiple coils is changed by adjusting the current ratio of each coil. S03: Real-time acquisition of geomagnetic direction data and device attitude data via geomagnetic sensors, and feedback to the controller; S04: The controller dynamically adjusts the current of each coil according to the real-time collected data, so that the total magnetic field formed by the multiple coils maintains the preset bias angle between the magnetic field and the geomagnetic direction, thereby so that the magnetic moment is simultaneously subjected to the effects of rotational magnetic torque and translational coupling force in the spatial gradient distribution of the geomagnetic direction.

7. The attitude control method according to claim 6, characterized in that, In step S04, the controller dynamically adjusts the current of each coil using a PID algorithm.

8. The attitude control method according to claim 7, characterized in that, The controller dynamically adjusts the current of each coil using a PID algorithm, including the following steps: S001: The system is powered on and initialized. The preset target magnetic field offset angle parameters are read, and the initialization of the geomagnetic sensor and drive module is completed. S002: Collect current geomagnetic vector component data and device attitude angle data through a geomagnetic sensor; S003: The controller calculates the actual offset angle between the current composite magnetic field and the geomagnetism based on the collected data; S004: The controller compares the actual offset angle with the preset target offset angle and calculates the angle deviation value; S005: The controller inputs the angle deviation value into the PID control algorithm to calculate the current correction value of each coil; S006: The controller outputs a control signal to the drive module according to the current correction value. The drive module adjusts the current of each coil so that the actual bias angle approaches and stabilizes at the target value.

9. The attitude control method according to claim 8, characterized in that, The step S006 is followed by step S007: the controller determines whether a shutdown command has been received or whether the power supply module voltage is lower than a preset threshold. If neither is received, the controller returns to step S002 and continuously performs closed-loop adjustment using the currently adjusted actual bias angle as feedback, so that the total magnetic field and the geomagnetic direction maintain the preset bias angle of the controller. If a shutdown command is received or the power supply module voltage is lower than a preset threshold, the power supply to the coil is cut off.

10. The attitude control method according to claim 6, characterized in that, In step S04, the controller dynamically adjusts the current configuration of each coil according to the operating mode: In ground working mode, the rotational magnetic torques cancel each other out, the horizontal translational forces cancel each other out, and the vertical translational forces are superimposed in the same direction to output a vertical micro-lift force. In space operation mode, the rotating magnetic torque is output as attitude control torque and the translational coupling force is output as orbit fine-tuning thrust.

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