Variable inertia flywheel for yaw control of high-altitude balloon pod

Abstract

The invention relates to the technical field of aerostat control equipment, and provides a high-altitude balloon pod yaw control variable inertia flywheel which comprises a flywheel main disc, a flywheel auxiliary disc, a linkage assembly and a driving device. A plurality of limiting parts are arranged on a circle of the edge of the flywheel main disc at intervals, the flywheel auxiliary disc is rotationally arranged on the flywheel main disc, sliding grooves are formed in the positions close to the edge of the flywheel auxiliary disc, the sliding grooves and the limiting parts are arranged in a one-to-one correspondence mode, and part of bodies of the limiting parts are located in the sliding grooves; the driving device is arranged in the middle of the flywheel main disc, the driving device is connected with the flywheel auxiliary disc so as to drive the flywheel auxiliary disc to rotate through the driving device, a protruding cover body is arranged in the middle of the flywheel main disc, and the protruding cover body is fixedly connected with the flywheel main disc. Through the arrangement of the linkage assembly, the movement of the sliding block can be realized through the rotation of the driving device, so that the inertia adjustment is realized, the rotational inertia adjustment is realized, and the control precision is improved. And through a connecting rod connection rotation mode, the adjustment response is quicker, and quick adjustment can be realized.

Description

Technical Field

[0001] The invention relates to the technical field of aerostat control equipment, and in particular to a variable inertia flywheel for yaw control of a high-altitude balloon pod. Background Art

[0002] The high-altitude balloon system is an aerostat platform that uses the principle of buoyancy and weight balance to complete airborne flight. It has the advantages of long airborne time and strong carrying capacity. The high-altitude balloon system is a series system from top to bottom, including a sphere, a parachute, a cable and a pod. The mission payload is installed inside or outside the pod and suspended at the bottom of the system by a long cable. The high-altitude balloon system usually does not carry a propulsion device. After taking off, it flies with the wind. The huge sphere rotates slowly under the stimulation of the high-altitude wind field. This rotation will be transmitted to the pod through the cable, causing the pod yaw angle to be unable to stabilize at a specific angle in the natural state. For some onboard equipment that has special requirements for the pod yaw azimuth angle, it is necessary to add a pod attitude control system for auxiliary control.

[0003] The basic principle of yaw control of high-altitude balloon pods is to use the angular momentum theorem. The angular momentum theorem states that when a system is acted upon by an external force, the rate of change of the system's angular momentum over time is equal to the magnitude of the external torque. When the external torque is zero, the system's angular momentum remains unchanged, that is, angular momentum is conserved.

[0004] An inertia flywheel is installed on the pod's center of gravity axis, and a torque motor is used to drive the inertia flywheel to rotate. The pod and the flywheel satisfy the conservation of angular momentum as an internal force system. The rotation of the inertia flywheel drives the pod to rotate in the opposite direction. By controlling the rotation direction and speed of the inertia flywheel, when the angular momentum of the pod and the angular momentum input by the cable are balanced at the target azimuth position, the system angular momentum is zero and stops rotating, realizing the pod yaw control. In actual flight, the angular momentum input by the cable into the pod changes continuously according to the specific conditions of the high-altitude wind field, so the pod yaw control is a dynamic and continuous process.

[0005] In the related art, the inertia flywheel structure is a wheel-type integral structure, and its rotational inertia is a fixed value and cannot be adjusted. The process of using it for pod yaw control is as follows: when the pod yaw azimuth angle deviates greatly from the target angle, coarse adjustment is performed, and the torque motor outputs a large torque to make the flywheel obtain a large angular momentum, and the pod rotates in the opposite direction to approach the target angle, and finally achieves a small left and right swing state near the target pointing angle. At this time, fine adjustment begins, the torque motor reduces the torque output to reduce the flywheel angular momentum, and the pod slowly approaches the target pointing angle at a small rotation angular velocity. Using the non-variable inertia flywheel yaw control scheme, during the coarse and fine adjustment process, the torque motor output value will produce a large change gradient, the available speed change range during the fine adjustment process is very small, and the pod yaw control accuracy reaches a peak at the minimum output speed of the motor, making it difficult to improve the control accuracy. Summary of the invention

[0006] The invention provides a variable inertia flywheel for yaw control of a high-altitude balloon pod, which is used to solve the defects in the prior art that it is difficult to adjust the moment of inertia and it is difficult to effectively improve the control accuracy.

[0007] The present invention provides a variable inertia flywheel for yaw control of a high-altitude balloon pod, comprising: a flywheel main disc, a flywheel sub-disc, a linkage assembly and a driving device; a plurality of limiting parts are arranged at intervals on the edge of the flywheel main disc, each of the limiting parts is arranged one-to-one with the linkage assembly, the flywheel sub-disc is rotatably arranged on the flywheel main disc, a plurality of arc-shaped chute grooves are arranged near the edge of the flywheel sub-disc, the chute grooves are arranged one-to-one with the limiting parts, and a part of the body of the limiting part is located in the chute grooves; the driving device is arranged in the middle of the flywheel main disc, and the rotating part of the driving device is arranged with the flywheel The flywheel main disc is connected to the flywheel main disc so as to drive the flywheel main disc to rotate through the driving device, a protruding cover body is provided in the middle of the flywheel main disc, and the protruding cover body is fixedly connected to the flywheel main disc; wherein the linkage assembly comprises a first connecting rod, a second connecting rod and a slider, one end of the first connecting rod is connected to the limiting portion, the other end of the first connecting rod is hinged to the protruding cover body, the slider is slidably arranged on the first connecting rod, one end of the second connecting rod is hinged to the slider, and the other end of the second connecting rod is hinged to the flywheel main disc, so that the slider moves on the first connecting rod when the flywheel main disc rotates.

[0008] According to the variable inertia flywheel for yaw control of a high-altitude balloon pod provided by the present invention, a protrusion is provided in the middle of the flywheel main disc, and the flywheel sub-disc is located above the flywheel main disc and rotates around the protrusion.

[0009] According to the variable inertia flywheel for yaw control of a high-altitude balloon pod provided by the present invention, the driving device includes a driving motor, and the driving motor is arranged on the protruding portion.

[0010] According to the variable inertia flywheel for yaw control of a high-altitude balloon pod provided by the present invention, the driving motor comprises a stator component and a rotor component, the rotor component is sleeved outside the stator component, and the rotor component is connected to the flywheel sub-disk.

[0011] According to the variable inertia flywheel for yaw control of a high-altitude balloon pod provided by the present invention, the limiting portion is integrally formed with the flywheel main disc.

[0012] According to the variable inertia flywheel for yaw control of a high-altitude balloon pod provided by the present invention, a connecting hole is provided on the top of the limiting portion, and the first connecting rod is arranged in the connecting hole and fixedly connected by bolts.

[0013] According to the variable inertia flywheel for yaw control of a high-altitude balloon pod provided by the present invention, the distances between the plurality of limit portions and the central axis of the flywheel main disk are the same.

[0014] According to the variable inertia flywheel for yaw control of a high-altitude balloon pod provided by the present invention, the slider includes a slider body, a through sliding hole is opened in the middle of the slider body, and the sliding hole is slidably matched with the rod body of the first connecting rod.

[0015] According to the variable inertia flywheel for yaw control of a high-altitude balloon pod provided by the present invention, a hinge portion is provided at the bottom of the slider body, and the second connecting rod is hinged to the slider via the hinge portion.

[0016] According to the variable inertia flywheel for yaw control of a high-altitude balloon pod provided by the present invention, a retaining ring portion is provided around the outer edge of the flywheel main disk, the retaining ring portion encloses an installation space, and the flywheel sub-disk is arranged in the installation space.

[0017] The variable inertia flywheel for yaw control of the high-altitude balloon pod provided by the present invention can realize the movement of the slider by the rotation of the driving device through the setting of the linkage component, thereby realizing the adjustment of the inertia, thereby realizing the adjustment of the rotational inertia and improving the control accuracy. And the adjustment response is faster through the rotation of the connecting rod, which can realize rapid adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the internal structure of the variable inertia flywheel provided by the present invention.

[0020] Figure 2 This is one of the three-dimensional structural schematic diagrams of the variable inertia flywheel provided by the present invention.

[0021] Figure 3 This is the second schematic diagram of the three-dimensional structure of the variable inertia flywheel provided by the present invention.

[0022] Figure 4 It is a flow chart of the yaw adjustment method of the variable inertia flywheel provided by the present invention.

[0023] Reference numerals: 1. Flywheel main disc; 11. Protrusion; 12. Limiting part; 13. Retaining ring part; 2. Flywheel sub-disk; 21. Slide groove; 3. Driving device; 31. Stator component; 32. Rotor component; 4. Linkage assembly; 41. First connecting rod; 42. Second connecting rod; 43. Sliding block; 5. Protruding cover. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of explaining the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0026] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0027] In the embodiments of the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0028] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms are not necessarily for the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0029] When the high-altitude balloon system performs yaw control on the pod, the angular momentum input into the pod by the cable changes continuously according to the specific conditions of the high-altitude wind field, thereby achieving precise control. In other words, real-time and continuous control is required throughout the flight process.

[0030] In the related technology, one type of rotational inertia is a fixed value that cannot be adjusted. This type of solution has a limited adjustable range and is difficult to achieve continuous high-precision adjustment. Another type of adjustment is variable rotational inertia adjustment, such as inertia adjustment through screws, etc. This type of adjustment method has a slow response speed and is difficult to achieve yaw control adjustment of high-altitude balloons. The adjustment is difficult.

[0031] Regarding the problems in related technologies, such as Figure 1-3As shown, the present invention provides a variable inertia flywheel for yaw control of a high-altitude balloon pod, comprising a flywheel main disc 1, a flywheel sub-disc 2, a linkage assembly 4 and a driving device 3; a plurality of limit portions 12 are arranged at intervals on the edge of the flywheel main disc 1, and each limit portion 12 is provided with a linkage assembly 4 in a one-to-one correspondence; the flywheel sub-disc 2 is rotatably arranged on the flywheel main disc 1, and a plurality of arc-shaped chute grooves 21 are provided near the edge of the flywheel sub-disc 2, and the chute grooves 21 are arranged in a one-to-one correspondence with the limit portions 12, and a part of the body of the limit portion 12 is located in the chute grooves 21; the driving device 3 is arranged in the middle of the flywheel main disc 1, and the rotating part of the driving device 3 is connected to the flywheel main disc 1. The flywheel sub-disk 2 is connected to the flywheel sub-disk 2 so as to drive the flywheel sub-disk 2 to rotate through the driving device 3. A protruding cover body 5 is provided in the middle of the flywheel main disk 1, and the protruding cover body 5 is fixedly connected to the flywheel main disk 1; wherein, the linkage assembly 4 includes a first connecting rod 41, a second connecting rod 42 and a slider 43, one end of the first connecting rod 41 is connected to the limit portion 12, the other end of the first connecting rod 41 is hinged to the protruding cover body 5, the slider 43 is slidably arranged on the first connecting rod 41, one end of the second connecting rod 42 is hinged to the slider 43, and the other end of the second connecting rod 42 is hinged to the flywheel sub-disk 2, so that the slider 43 moves on the first connecting rod 41 when the flywheel sub-disk 2 rotates. When the inertia is adjusted, the rotational inertia of the flywheel disc can be changed by changing the center of gravity position. In this embodiment, the slider 43 is driven to move on the first connecting rod 41 by the rotation of the flywheel sub-disk 2, and different rotational inertia can be provided when the slider 43 is in different positions.

[0032] Specifically, the flywheel main disc 1 and the flywheel sub-disc 2 are circular disc-shaped structures, the outer diameter of the flywheel main disc 1 is larger than the outer diameter of the flywheel sub-disc 2, and the flywheel sub-disc 2 is arranged inside the flywheel main disc 1. The driving device 3 has a rotating part, which can drive the flywheel sub-disc 2 to rotate when rotating. During the rotation of the flywheel sub-disc 2, the slider 43 will be driven to move along the first connecting rod 41 to achieve the adjustment of the rotational inertia. The protruding cover 5 is fixedly connected to the flywheel main disc by screws, so that when the driving device 3 drives the flywheel sub-disc 2 to rotate, the protruding cover 5 is consistent with the flywheel main disc 1 and forms a relative rotation with the flywheel sub-disc 2.

[0033] The slider 43 has a certain weight, and a plurality of sliders 43 are arranged one by one on the corresponding first connecting rod 41. The plurality of sliders 43 can adjust the center of gravity of the overall mass of the flywheel, thereby adjusting the moment of inertia.

[0034] It can be understood that, in this embodiment, when adjusting the moment of inertia, the slider 43 is moved by the rotation of the flywheel sub-disk 2, and the response speed is fast. Furthermore, if the response speed is too slow during yaw adjustment, the adjustment will not be timely, making the adjustment more difficult. In this embodiment, the movement of the slider 43 can be achieved when the rotating part of the driving device 3 rotates at a smaller angle, the response speed is faster, the yaw adjustment can be achieved in time, and the difficulty of adjustment is reduced.

[0035] According to some embodiments provided by the present invention, a protrusion 11 is provided in the middle of the flywheel main disc 1, and the flywheel sub-disc 2 is located above the flywheel main disc 1 and rotates around the protrusion 11. The flywheel sub-disc 2 needs to rotate relative to the flywheel main disc 1 to achieve the driving of the slider 43. In this embodiment, the provision of the middle protrusion 11 can make the rotation of the flywheel sub-disc 2 more stable and easier to control.

[0036] Specifically, the flywheel main disc 1 and the flywheel sub-disc 2 are concentrically arranged, which enables the flywheel sub-disc 2 to rotate around the protrusion 11 when rotating, thereby enabling multiple groups of linkage components 4 to act simultaneously, so that the sliders 43 can be evenly distributed at the predetermined positions of the turntable, thereby achieving precise control of the moment of inertia.

[0037] It can be understood that the protrusion 11 is a cylindrical structure, the flywheel secondary disc 2 is sleeved on the periphery of the protrusion 11, and the driving device 3 is arranged between the flywheel main disc 1 and the flywheel secondary disc 2 to drive the flywheel secondary disc 2 to rotate.

[0038] In some embodiments, the driving device 3 includes a driving motor, which is disposed on the protrusion 11. The driving motor is fixedly disposed on the protrusion 11, and the rotating part of the driving motor is connected to the flywheel sub-disc 2, so that the flywheel sub-disc 2 can be driven to rotate when the rotating part rotates.

[0039] Specifically, the driving motor has a rotating part, and the rotating part of the driving motor can drive the flywheel sub-disk 2 to rotate. During the rotation of the flywheel sub-disk 2, the rotational inertia can be adjusted, which simplifies the complexity of control. The driving motor can be a servo motor or a stepper motor, which can accurately control the rotation speed and rotation angle, thereby achieving fast and accurate control and improving control accuracy.

[0040] In a specific implementation, the driving motor includes a stator component 31 and a rotor component 32. The rotor component 32 is sleeved outside the stator component 31. The rotor component 32 is connected to the flywheel sub-disc 2, so that when power is turned on, the rotor component 32 can drive the flywheel sub-disc 2 to rotate, thereby realizing the control of the movement of the slider 43.

[0041] Specifically, the stator component 31 is connected to the protruding part, and the rotor component 32 is sleeved outside the stator component 31. When power is turned on, the rotor component 32 can rotate around the stator component 31, thereby driving the flywheel sub-disk 2 to rotate. In this way, the response speed can be further improved, the response delay can be reduced, and the yaw can be adjusted in time.

[0042] According to some embodiments provided by the present invention, the limiting portion 12 is integrally formed with the flywheel main disc 1. The structural strength of the limiting portion 12 is improved by the integral forming method, so that the overall structural stability is better.

[0043] In some embodiments, a connection hole is provided at the top of the limiting portion 12, and the first connecting rod 41 is provided in the connection hole and fixedly connected by bolts. The end of one end of the first connecting rod 41 is located in the connection hole and fixedly connected by bolts, which facilitates the installation of the first connecting rod 41.

[0044] Specifically, the limiting portion 12 is a columnar structure as a whole, and a connecting hole is provided at the top of the limiting portion 12. The first connecting rod 41 is inserted into the connecting hole and fixed by bolts.

[0045] In the specific setting, the top outer diameter of the limiting portion 12 is larger, and the outer diameter of the portion located at the slide groove 21 is smaller, so that the limiting portion 12 can prevent the flywheel sub-disc 2 from detaching in the vertical direction, thereby achieving stable rotation of the flywheel sub-disc 2 and improving the overall stability of the flywheel.

[0046] According to some embodiments provided by the present invention, the distance L between the multiple limiting parts 12 and the central axis of the flywheel main disc 1 is the same. That is, the multiple limiting parts 12 are arranged on the concentric circle line position of the flywheel main disc 1, which makes the distance L between the multiple limiting parts 12 and the central position of the flywheel main disc 1 the same, which can make the multiple sliders 43 be on the same center line when moving, which is convenient for adjusting the moment of inertia.

[0047] Specifically, the slide groove 21 is an arc-shaped slide groove 21, and the radius of each section of the slide groove 21 is the same, which can be set one-to-one with the limit portion 12. When rotating, the flywheel secondary plate 2 rotates relative to the flywheel main plate 1, and the slider 43 slides on the first connecting rod 41.

[0048] like Figure 2 , Figure 3 As shown, the number of the limiting parts 12 is five, and correspondingly, five sections of slide grooves 21 are opened on the flywheel sub-disk 2, and the slide grooves 21 are arranged one by one with the limiting parts 12, so that the flywheel sub-disk 2 can rotate relative to the limiting parts 12 when rotating, and in the rotation process, each group of sliders 43 slides simultaneously through the cooperation of the first connecting rod 41, thereby realizing the adjustment of the rotational inertia. Of course, the specific number can be adjusted according to design needs.

[0049] According to some embodiments provided by the present invention, the slider 43 includes a slider 43 body, a through sliding hole is provided in the middle of the slider 43 body, and the sliding hole is slidably matched with the rod body of the first connecting rod 41. The slider 43 is used to adjust the moment of inertia of the flywheel main plate 1, so as to achieve yaw control. In this embodiment, the slider 43 body is slidably matched with the first connecting rod 41 through the sliding hole, so that it can reciprocate and slide on the first connecting rod 41 under the drive of the driving device 3.

[0050] Specifically, the slider 43 has a certain mass, which can change the center of gravity of the flywheel main disc 1 when sliding to different positions, thereby achieving the adjustment of the moment of inertia.

[0051] In some embodiments, a hinge is provided at the bottom of the slider 43 body, and the second connecting rod 42 is hinged to the slider 43 via the hinge. When the flywheel sub-disk 2 rotates, the second connecting rod 42 rotates, thereby pushing the slider 43 to stably reciprocate on the first connecting rod 41, thereby adjusting the moment of inertia.

[0052] Specifically, Figure 2 , Figure 3 For example, initially the slider 43 is close to the center position of the flywheel main disc 1. When the moment of inertia needs to be adjusted, the driving device 3 is controlled to rotate counterclockwise, thereby driving the flywheel sub-disc 2 to rotate. When the flywheel sub-disc 2 rotates, due to the length of the first connecting rod 41, and one end of the first connecting rod 41 is hinged, the second connecting rod 42 is hinged with the slider 43, which will inevitably drive the slider 43 to move on the first connecting rod 41. Therefore, the slider 43 will gradually move away from the center position of the flywheel main disc 1, the moment of inertia of the system increases, and the limit part 12 gradually moves from the O1 position to the O2 position. When the flywheel sub-disc 2 rotates to the O2 position, the slider 43 moves to the farthest section of the first connecting rod 41, and the moment of inertia of the flywheel reaches the maximum value. Therefore, the rotation of the driving device 3 can timely and efficiently adjust the moment of inertia.

[0053] According to some embodiments provided by the present invention, a retaining ring portion 13 is provided around the outer edge of the flywheel main disc 1, and the retaining ring portion 13 encloses an installation space, and the flywheel sub-disc 2 is arranged in the installation space. The arrangement of the retaining ring portion 13 forms a receiving space in the middle of the flywheel main disc 1, and the flywheel sub-disc 2 and the driving device 3 are located in the receiving hole space, which is conducive to the installation of the flywheel.

[0054] It can be understood that, by providing the retaining ring portion 13, the overall structure is made more compact, convenient for mass production, and more convenient during installation.

[0055] like Figure 4 As shown, when the yaw adjustment is performed specifically, the adjustment is performed by the following yaw adjustment method: Step S1, when the difference between the current azimuth angle of the pod and the target azimuth angle is greater than a preset angle, a coarse adjustment is performed, and the five sliders 43 are adjusted to the position farthest from the rotating shaft so that the flywheel has a maximum moment of inertia. Specifically, the preset angle can be set to 2 degrees or other angles.

[0056] Step S2, start the driving device 3, drive the flywheel sub-disk 2 to rotate, and the pod rotates close to the target azimuth angle. When the pod azimuth angle swings back and forth within ±2 degrees of the target azimuth angle, the coarse adjustment process ends.

[0057] Step S3, start the fine adjustment process, start the driving device 3 to make all the sliders 43 gradually move towards the center position to achieve a stable state. Specifically, by driving the slider 43 to move, the slider 43 is located at the nearest end of the first connecting rod 41, so that the flywheel rotational inertia is reduced to the minimum value, and fine adjustment is achieved.

[0058] Step S4, during the dynamic stabilization process, the output of the drive device 3 is continuously adjusted so that the pod can be stabilized at the target azimuth position with high accuracy.

[0059] Through the description of the above embodiments, those skilled in the art can clearly understand that when the variable inertia flywheel of each embodiment performs attitude control of the high-altitude balloon pod, the flywheel rotational inertia is continuously reduced during the process of the pod approaching the target azimuth angle, which can effectively reduce the output gradient change of the driving rotor and reduce the control difficulty. Compared with the non-variable inertia flywheel solution, under the condition of maintaining the same minimum output speed of the drive device 3, by adjusting the flywheel rotational inertia to the minimum value, the pod can reach a balanced state under a smaller angular momentum, significantly improving the pod azimuth control accuracy and response speed.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A variable inertia flywheel for yaw control of a high-altitude balloon pod, characterized in that: include: Flywheel main plate, flywheel auxiliary plate, linkage assembly and drive device; The edge of the flywheel main disc is provided with a plurality of limit parts at intervals, each of the limit parts is provided with the linkage assembly in a one-to-one correspondence, the flywheel sub-disc is rotatably provided on the flywheel main disc, and a plurality of arc-shaped slide grooves are provided near the edge of the flywheel sub-disc, the slide grooves are provided in a one-to-one correspondence with the limit parts, and a part of the body of the limit part is located in the slide groove; The driving device is arranged in the middle of the flywheel main disc, and the rotating part of the driving device is connected to the flywheel auxiliary disc, so as to drive the flywheel auxiliary disc to rotate through the driving device, and a protruding cover body is arranged in the middle of the flywheel main disc, and the protruding cover body is fixedly connected to the flywheel main disc; Among them, the linkage assembly includes a first connecting rod, a second connecting rod and a slider, one end of the first connecting rod is connected to the limiting portion, the other end of the first connecting rod is hinged to the protruding cover body, the slider is slidably arranged on the first connecting rod, one end of the second connecting rod is hinged to the slider, and the other end of the second connecting rod is hinged to the flywheel sub-disc, so that the slider moves on the first connecting rod when the flywheel sub-disc rotates.

2. The variable inertia flywheel for yaw control of a high-altitude balloon pod according to claim 1, characterized in that: A protrusion is provided in the middle of the flywheel main disc, and the flywheel auxiliary disc is located above the flywheel main disc and rotates around the protrusion.

3. The variable inertia flywheel for yaw control of a high-altitude balloon pod according to claim 2, characterized in that: The driving device comprises a driving motor, and the driving motor is arranged on the protruding portion.

4. The variable inertia flywheel for yaw control of a high-altitude balloon pod according to claim 3, characterized in that: The driving motor comprises a stator component and a rotor component. The rotor component is sleeved outside the stator component and connected to the flywheel sub-disk.

5. The variable inertia flywheel for yaw control of a high-altitude balloon pod according to claim 1, characterized in that: The limiting portion is integrally formed with the flywheel main disc.

6. The variable inertia flywheel for yaw control of a high-altitude balloon pod according to claim 5, characterized in that: A connecting hole is provided on the top of the limiting portion, and the first connecting rod is arranged in the connecting hole and fixedly connected by bolts.

7. The variable inertia flywheel for yaw control of a high-altitude balloon pod according to claim 5, characterized in that: The distances between the plurality of limiting portions and the central axis of the flywheel main disc are the same.

8. The variable inertia flywheel for yaw control of a high-altitude balloon pod according to claim 1, characterized in that: The slider comprises a slider body, a through sliding hole is formed in the middle of the slider body, and the sliding hole is slidably matched with the rod body of the first connecting rod.

9. The variable inertia flywheel for yaw control of a high-altitude balloon pod according to claim 8, characterized in that: A hinged portion is provided at the bottom of the slider body, and the second connecting rod is hinged to the slider via the hinged portion.

10. The variable inertia flywheel for yaw control of a high-altitude balloon pod according to claim 1, characterized in that: A retaining ring portion is arranged around the outer edge of the flywheel main disc, and the retaining ring portion encloses an installation space, and the flywheel auxiliary disc is arranged in the installation space.

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