Integrally-designed satellite-borne complex variable-speed scanning and torque compensation mechanism

Abstract

The invention belongs to the field of satellite-borne scanning mechanism design, and relates to an integrally-designed satellite-borne complex variable-speed scanning and torque compensation mechanism, which is used for realizing compensation of disturbance torque generated by a complex variable-speed scanning mechanism and comprises a variable-speed scanning mechanism and a torque compensation mechanism which share one set of shell and are coaxially designed, the variable-speed scanning mechanism comprises a first hollow cylinder and a third hollow cylinder; a first position sensor rotor, a first position sensor stator and a first position sensor are arranged on the second inner wall of the first hollow cylinder; the torque compensation mechanism comprises a second hollow cylinder, a flywheel and a fourth hollow cylinder, the flywheel is of a concentric double-cylinder structure, the outer cylinder diameter of the flywheel is larger than the outer diameter of the second hollow cylinder, and the inner cylinder diameter of the flywheel is smaller than the inner diameter of the second hollow cylinder. And a second position sensor rotor, a second position sensor stator and a second position sensor are arranged on the first inner wall of the second hollow cylinder.

Description

Technical Field

[0001] The present application belongs to the field of satellite-borne scanning mechanism design, and mainly relates to a satellite-borne complex variable speed scanning and torque compensation mechanism with an integrated design. Background Art

[0002] The satellite-borne complex variable speed scanning mechanism is mainly used to realize the on-orbit scanning of the satellite-borne payload. The payload is usually an antenna. In addition to the conventional uniform speed scanning, its scanning mode usually has a complex variable speed scanning mode. The rotation of the satellite-borne scanning mechanism will generate a disturbance torque, which will affect the attitude of the satellite. When the disturbance torque is large or the satellite attitude control accuracy is required to be high, the satellite-borne scanning mechanism is required to eliminate the impact on the satellite through self-compensation of the disturbance torque. The disturbance torque generated in the uniform speed scanning mode can be eliminated through dynamic balancing design and testing, while the complex variable speed scanning mode has an acceleration and deceleration process, that is, the existence of angular acceleration. The disturbance torque generated by the speed change cannot be eliminated by dynamic balancing, and can only be compensated by adding a set of synchronous counter-rotating mechanisms. It can be seen from the fact that the torque is equal to the product of the moment of inertia and the angular acceleration that as long as the product of the moment of inertia and the angular acceleration of the torque compensation mechanism and the variable speed scanning mechanism is equal in magnitude and opposite in direction, the disturbance torque can be offset and compensated.

[0003] The usual practice is to add an additional torque compensation mechanism, and the axis of the torque compensation mechanism must be installed coaxially with the axis of the scanning mechanism, which not only leads to an increase in mass and volume, but is often impossible to achieve for satellites with strictly limited onboard space and layout. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the prior art and propose an integrated satellite-borne complex variable speed scanning and torque compensation mechanism.

[0005] In order to achieve the above-mentioned purpose, the present invention proposes an integrated satellite-borne complex variable speed scanning and torque compensation mechanism, which is used to compensate for the disturbance torque generated by the complex variable speed scanning mechanism. The mechanism includes: a variable speed scanning mechanism and a torque compensation mechanism that share a set of housings and are coaxially designed; wherein:

[0006] The variable speed scanning mechanism comprises a first hollow cylinder between the rotating shaft and the housing, a third hollow cylinder between the rotating shaft and the first hollow cylinder, and an end of the third hollow cylinder away from the torque compensation mechanism extends out of the first hollow cylinder, and a first position sensor rotor, a first position sensor stator and a first position sensor are arranged on a second inner wall of the first hollow cylinder;

[0007] The torque compensation mechanism includes a second hollow cylinder and a flywheel between the rotating shaft and the outer shell, and a fourth hollow cylinder between the rotating shaft and the second hollow cylinder, and the fourth hollow cylinder extends out of the second hollow cylinder at one end away from the speed change scanning mechanism. The flywheel is a concentric double-cylinder structure, wherein the outer cylinder diameter of the flywheel is larger than the outer diameter of the second hollow cylinder, and the inner cylinder diameter of the flywheel is smaller than the inner diameter of the second hollow cylinder. A second position sensor rotor, a second position sensor stator and a second position sensor are arranged on the first inner wall of the second hollow cylinder.

[0008] Preferably, the product of the moment of inertia and angular acceleration of the variable speed scanning mechanism and the torque compensation mechanism is equal in magnitude and opposite in direction.

[0009] Preferably, the variable speed scanning mechanism comprises a first motor rotor and a first motor stator disposed between the first hollow cylinder and the housing.

[0010] Preferably, the variable speed scanning mechanism comprises a first bearing and a second bearing disposed between the rotating shaft and the third hollow cylinder.

[0011] Preferably, the variable speed scanning mechanism comprises a first spacer sleeve disposed between the first bearing and the second bearing and mounted on the rotating shaft.

[0012] Preferably, the torque compensation mechanism includes a second motor stator and a second motor rotor disposed between the flywheel and the housing.

[0013] Preferably, the torque compensation mechanism includes a third bearing and a fourth bearing disposed between the rotating shaft and the fourth hollow cylinder.

[0014] Preferably, the torque compensation mechanism includes a second spacer sleeve disposed between the third bearing and the fourth bearing and mounted on the rotating shaft.

[0015] Preferably, loads can be installed at both ends of the rotating shaft.

[0016] Preferably, the first position sensor and the second position sensor are rotary transformers, photoelectric encoders or circular induction synchronizers.

[0017] Compared with the prior art, the advantages of the present invention are:

[0018] The disturbance torque compensation method proposed in the present invention can realize the integrated design of the variable speed scanning mechanism and the torque compensation mechanism. The two sets of mechanisms share a set of shells, which makes it easier to realize the coaxial line design. Loads can be installed at both ends of the rotating shaft of the variable speed scanning mechanism. The method has a compact mechanical structure, small volume and mass, good coaxiality of the two sets of mechanisms, and good torque compensation effect. It is suitable for the disturbance torque compensation of the scanning mechanism with narrow space on the satellite. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a cross-sectional schematic diagram of an example of the integrated design method of the variable speed scanning mechanism and the torque compensation mechanism of the present invention;

[0020] Figure 2 It is a schematic diagram of the rotating shaft of the variable speed scanning mechanism;

[0021] Figure 3 It is a schematic diagram of the flywheel in the torque compensation mechanism;

[0022] Figure 4 is a cross-sectional schematic diagram of a first position sensor;

[0023] Figure 5 is a cross-sectional schematic diagram of a second position sensor;

[0024] Figure 6 is a schematic diagram of a first housing;

[0025] Figure 7 Schematic diagram of the second housing.

[0026] Reference numerals

[0027] 1. Rotating shaft 2. First bearing 3. Stator of first position sensor

[0028] 4. First position sensor rotor 5. First housing 6. First hollow cylinder

[0029] 7. First motor rotor 8. First motor stator 9. Second bearing

[0030] 10. Second motor stator 11. Second motor rotor 12. Second housing

[0031] 13. Flywheel 14. Second position sensor rotor 15. Second position sensor stator

[0032] 16, third bearing 17, fourth bearing 18, second hollow cylinder

[0033] 19. First position sensor 20. Speed ​​scanning mechanism 21. Torque compensation mechanism

[0034] 22. Second position sensor 23. Third hollow cylinder 24. Fourth hollow cylinder

[0035] 25, first spacer 26, second spacer 27, first shaft end

[0036] 28, first inner wall 29, first outer wall 30, second inner wall

[0037] 31. Second outer wall DETAILED DESCRIPTION

[0038] The present invention is an integrated satellite-borne complex variable speed scanning and torque compensation mechanism for compensating the disturbance torque generated by a satellite-borne complex variable speed scanning mechanism. The mechanism adopts an integrated design, two sets of mechanisms share a set of housing, and are coaxial design.

[0039] The advantages of this mechanism are compact structure, small size and mass, good coaxiality of the two sets of mechanisms, and good disturbance torque compensation effect.

[0040] It includes: a variable speed scanning mechanism 20 and a torque compensation mechanism 21 .

[0041] The torques generated by the torque compensation mechanism 21 and the complex variable speed scanning mechanism 20 should be equal in magnitude and opposite in direction, thereby achieving torque compensation;

[0042] For the convenience of explanation, the part of a housing at the variable speed scanning mechanism 20 is defined as the first housing 5, and the part of a housing at the torque compensation mechanism 21 is defined as the second housing 12.

[0043] The variable speed scanning mechanism 20 is composed of a rotating shaft 1, a first bearing 2, a second bearing 9, a first position sensor stator 3, a first position sensor rotor 4, a first housing 5, a first motor rotor 7, and a first motor stator 8;

[0044] The torque compensation mechanism 21 is composed of a third bearing 16, a fourth bearing 17, a second position sensor stator 15, a second position sensor rotor 14, a flywheel 13, a second housing 12, a second motor rotor 11, and a second motor stator 10;

[0045] The rotating shaft 1 and the flywheel 1 are designed to be coaxial;

[0046] The rotating shaft 1 is provided with a first hollow cylinder 6;

[0047] Loads can be installed at both ends of the rotating shaft 1;

[0048] The flywheel 13 is provided with a second hollow cylinder 18;

[0049] The inner diameter of the second hollow cylinder 18 is greater than the outer diameter of the first shaft end 27;

[0050] The first position sensor rotor 4 is fixed to the second inner wall 30 of the first hollow cylinder 6 by screwing or gluing, and the two rotate synchronously;

[0051] The first position sensor stator 3 is fixed to the second outer wall 31 of the third hollow cylinder 23 by screwing or gluing;

[0052] The second position sensor rotor 14 is fixed to the first inner wall 28 of the second hollow cylinder 18 by screwing or gluing, and the two rotate synchronously;

[0053] The second position sensor stator 15 is fixed to the first outer wall 29 by screwing or gluing;

[0054] The product of the moment of inertia and angular acceleration of the variable speed scanning mechanism 20 and the product of the moment of inertia and angular acceleration of the torque compensation mechanism 21 are equal in magnitude and opposite in direction;

[0055] Optionally, the first position sensor 19 and the second position sensor 22 may be a rotary transformer, a photoelectric encoder, and a circular induction synchronizer.

[0056] Two of the position sensors are used to accurately measure the angular displacement information of the motor rotor. The specific working principle is: the motor is driven by its drive controller to generate torque, and the position sensor is used to accurately measure the angular displacement of the motor rotor and feed it back to the drive controller. Therefore, as long as the product of the moment of inertia and angular acceleration of the torque compensation mechanism and the scanning mechanism is equal in magnitude and opposite in direction, mutually offset torques can be generated, thereby achieving the effect of disturbance torque compensation.

[0057] The technical solution of the present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0058] Example

[0059] like Figure 1 As shown, the embodiment of the present invention proposes an integrated satellite-borne complex variable speed scanning mechanism and torque compensation mechanism. The torque compensation mechanism integrated with the satellite-borne scanning mechanism can achieve compensation and elimination of the disturbance torque of the variable speed scanning mechanism. The torque generated by the torque compensation mechanism 21 is equal in magnitude and opposite in direction to the torque of the variable speed scanning mechanism 20, so as to achieve torque cancellation and compensation. That is, the product of the moment of inertia and angular acceleration of the two is required to be equal in magnitude and opposite in direction.

[0060] The variable speed scanning mechanism 20 comprises:

[0061] A first hollow cylinder 6 is disposed between the rotating shaft 1 and the first housing 5, a third hollow cylinder 23 is disposed between the rotating shaft 1 and the first hollow cylinder 6, and one end of the third hollow cylinder 23 away from the torque compensation mechanism 21 extends out of the first hollow cylinder 6, and a first position sensor rotor 4, a first position sensor stator 3 and a first position sensor 19 are disposed on a second inner wall 30 of the first hollow cylinder 6;

[0062] It includes a first motor rotor 7 and a first motor stator 8 disposed between a first hollow cylinder 6 and a first housing 5;

[0063] It comprises a first bearing 2 and a second bearing 9 disposed between the rotating shaft 1 and the third hollow cylinder 23, and a first spacer sleeve 25 installed on the rotating shaft between the two bearings.

[0064] The torque compensation mechanism 21 comprises:

[0065] A second hollow cylinder 18 and a flywheel 13 are between the rotating shaft 1 and the second housing 12, and a fourth hollow cylinder 24 is between the rotating shaft 1 and the second hollow cylinder 18, and the fourth hollow cylinder 24 extends out of the second hollow cylinder 18 at one end away from the speed change scanning mechanism 20, and the flywheel 13 is a concentric double cylinder structure, wherein the outer cylinder diameter of the flywheel 13 is larger than the outer diameter of the second hollow cylinder 18, and the inner cylinder diameter is smaller than the inner diameter of the second hollow cylinder 18, and the second position sensor rotor 14, the second position sensor stator 15 and the second position sensor 22 are arranged on the first inner wall 28 of the second hollow cylinder 18.

[0066] The invention comprises a second motor stator 10 and a second motor rotor 11 which are arranged between a flywheel 13 and a second housing 12 .

[0067] It comprises a third bearing 16 and a fourth bearing 17 disposed between the rotating shaft 1 and the fourth hollow cylinder 24, and a second spacer sleeve 26 mounted on the rotating shaft between the two bearings.

[0068] Loads can be installed at both ends of the rotating shaft 1.

[0069] In order to realize the integrated design, the structures of the variable speed scanning mechanism and the torque compensation mechanism need to be specially designed as follows.

[0070] A first hollow cylinder 6 is provided on the rotating shaft 1 in the variable speed scanning mechanism for mounting the first position sensor rotor 4 and leaving installation space for the torque compensation mechanism 21 .

[0071] Since loads need to be installed at both ends of the rotating shaft 1 of the variable speed scanning mechanism, the rotating shaft 1 also passes through the fourth hollow cylinder 24 of the second housing 12. This requires that the flywheel 13 of the torque compensation mechanism 21 be designed as Figure 3 In the concentric double cylinder structure shown, the wall thickness of the outer cylinder is slightly thicker in order to increase its moment of inertia, and also serves as a mounting structure for the motor rotor 11 and the position sensor rotor 14, and the inner cylinder serves as an inner ring mounting structure for the third bearing 16 and the fourth bearing 17. The outer cylinder has a diameter greater than the outer diameter of the second hollow cylinder 18 on the second housing 12, and the outer diameter of the inner cylinder 26 is smaller than the inner diameter of the second hollow cylinder 18, and the inner diameter is greater than the diameter of the first shaft end 27.

[0072] The specific assembly process is:

[0073] Reference Figure 1The first motor stator 8 is installed in the first housing 5 , and the first position sensor stator 3 is installed on the outer side of the third hollow cylinder 23 on the first housing 5 .

[0074] Reference Figure 1 , Figure 2 , Figure 4 and Figure 6 First, install the second bearing 9, the first spacer sleeve 25, and the first bearing 2 on the rotating shaft 1 in sequence, then install the first position sensor rotor 4 into the first hollow cylinder 6, install the first motor rotor 7 on the outside of the first hollow cylinder 6, and finally install the first bearing 2 and the second bearing 9 into the third hollow cylinder 23 of the first housing 5 to form the variable speed scanning mechanism 20.

[0075] Reference Figure 1 The second motor stator 10 is installed in the second housing 12 , and the second position sensor stator 15 is installed in the outer side of the third hollow cylinder 24 of the second housing 12 .

[0076] Reference Figure 1 , Figure 3 , Figure 5 and Figure 7 First, install the fourth bearing 17, the second spacer 26, and the third bearing 16 in sequence into the outside of the second hollow cylinder 18 on the flywheel 13, install the second position sensor rotor 14 into the flywheel 13, and install the second motor rotor 11 on the outside of the flywheel 13. Finally, install the fourth bearing 17 and the third bearing 16 together into the fourth hollow cylinder 24 on the second housing 12 to form the torque compensation mechanism 21.

[0077] Reference Figure 1 The speed-changing scanning mechanism 20 and the torque compensation mechanism 21 are assembled together.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention is described in detail with reference to the embodiments, it should be understood by those skilled in the art that any modification or equivalent replacement of the technical solutions of the present invention does not depart from the spirit and scope of the technical solutions of the present invention and should be included in the scope of the claims of the present invention.

Claims

1. An integrated satellite-borne complex variable speed scanning and torque compensation mechanism, used to compensate for the disturbance torque generated by the complex variable speed scanning mechanism, characterized in that: The mechanism comprises: a variable speed scanning mechanism (20) and a torque compensation mechanism (21) which share a common housing and are coaxially designed; wherein: The variable speed scanning mechanism (20) comprises a first hollow cylinder (6) between the rotating shaft (1) and the housing, a third hollow cylinder (23) between the rotating shaft (1) and the first hollow cylinder (6), and an end of the third hollow cylinder (23) away from the torque compensation mechanism (21) extends out of the first hollow cylinder (6), and a first position sensor rotor (4), a first position sensor stator (3) and a first position sensor (19) are arranged on a second inner wall (30) of the first hollow cylinder (6); The torque compensation mechanism (21) comprises a second hollow cylinder (18) and a flywheel (13) between the rotating shaft (1) and the housing, and a fourth hollow cylinder (24) between the rotating shaft (1) and the second hollow cylinder (18), wherein one end of the fourth hollow cylinder (24) away from the speed change scanning mechanism (20) extends out of the second hollow cylinder (18), and the flywheel (13) is a concentric double cylinder structure, wherein the outer cylinder diameter of the flywheel (13) is larger than the outer diameter of the second hollow cylinder (18), and the inner cylinder diameter of the flywheel (13) is smaller than the inner diameter of the second hollow cylinder (18), and a second position sensor rotor (14), a second position sensor stator (15) and a second position sensor (22) are arranged on a first inner wall (28) of the second hollow cylinder (18).

2. The integrated satellite-borne complex variable speed scanning and torque compensation mechanism according to claim 1 is characterized in that: The product of the moment of inertia and angular acceleration of the variable speed scanning mechanism (20) and the torque compensation mechanism (21) is equal in magnitude and opposite in direction.

3. The integrated satellite-borne complex variable speed scanning and torque compensation mechanism according to claim 1 is characterized in that: The variable speed scanning mechanism (20) comprises a first motor rotor (7) and a first motor stator (8) disposed between a first hollow cylinder (6) and a housing.

4. The integrated satellite-borne complex variable speed scanning and torque compensation mechanism according to claim 1 is characterized in that: The variable speed scanning mechanism (20) comprises a first bearing (2) and a second bearing (9) disposed between the rotating shaft (1) and the third hollow cylinder (23).

5. The integrated satellite-borne complex variable speed scanning and torque compensation mechanism according to claim 4 is characterized in that: The variable speed scanning mechanism (20) comprises a first spacer sleeve (25) disposed between a first bearing (2) and a second bearing (9) and mounted on the rotating shaft.

6. The integrated satellite-borne complex variable speed scanning and torque compensation mechanism according to claim 1 is characterized in that: The torque compensation mechanism (21) comprises a second motor stator (10) and a second motor rotor (11) disposed between the flywheel (13) and the housing.

7. The integrated satellite-borne complex variable speed scanning and torque compensation mechanism according to claim 1 is characterized in that: The torque compensation mechanism (21) comprises a third bearing (16) and a fourth bearing (17) disposed between the rotating shaft (1) and the fourth hollow cylinder (24).

8. The integrated satellite-borne complex variable speed scanning and torque compensation mechanism according to claim 7 is characterized in that: The torque compensation mechanism (21) comprises a second spacer sleeve (26) disposed between the third bearing (16) and the fourth bearing (17) and mounted on the rotating shaft.

9. The integrated satellite-borne complex variable speed scanning and torque compensation mechanism according to claim 1 is characterized in that: Loads can be installed at both ends of the rotating shaft (1).

10. The integrated satellite-borne complex variable speed scanning and torque compensation mechanism according to claim 1, characterized in that: The first position sensor (19) and the second position sensor (22) are rotary transformers, photoelectric encoders or circular induction synchronizers.

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