Miniature wireless control moment gyroscope and working method

Abstract

The invention discloses a miniature wireless control moment gyroscope and a working method. The rotating mass comprises a rotating mass body, an inner frame, a wireless power supply module, a computer system, a mounting base, a rotor motor and a frame motor, during installation, the rotating mass body is connected with the rotor motor, the inner frame is connected with the wireless power supply module, the computer system and the rotor motor, the inner frame is installed on the frame motor, and the installation base is connected with the frame motor. The wireless power supply module supplies power to the rotor motor and the computer system, and the computer system communicates with an upper computer through a Bluetooth module. The frame motor is communicated with an upper computer by adopting an RS-485 protocol; and finally, torque output control is carried out on the control torque gyroscope through the upper computer system. The invention has the advantages of low cost, strong implementation, small required space, high stability, good performance, infinite corner function and the like. The function of controlling the moment gyroscope to quickly output the moment is realized, and the problem of quick and large-range attitude maneuver of the air floating table is solved.

Description

Technical Field

[0001] The invention relates to the technical field of attitude control based on an air-floating platform, and in particular to a wireless controlled moment gyroscope and a working method thereof. Background Art

[0002] The commonly used ordinary gyroscopic controlled moment gyroscope has the advantage of infinite rotation angle of the frame, but the structure size is slightly larger and difficult to be applied to small air bearing platforms. The cantilever controlled moment gyroscope has the advantages of compact structure, small size and light weight, but it needs to set up a larger frame axis system to support the rotating mass body, so it is not suitable for controlled moment gyroscopes for air bearing platforms.

[0003] The micro wireless controlled moment gyro has the advantages of low cost, strong feasibility, small space required, high stability, good performance, and infinite frame rotation function. The controlled moment gyro on the air-floating platform has the infinite rotation function while taking into account the advantages of small size, and can quickly output torque to the outside, solving the problem of rapid and large-scale attitude maneuvers of the air-floating platform. Summary of the invention

[0004] The present invention aims at solving the above-mentioned problems, overcomes the shortcomings of the above-mentioned prior art, and provides a miniature wireless controlled torque gyroscope and a working method. The device has a simple system composition, low cost, strong feasibility, small required space, high stability, good performance, and an infinite rotation angle function.

[0005] The technical solution proposed by the present invention to solve the above technical problems is:

[0006] 1. A miniature wireless controlled torque gyroscope and a working method, comprising a rotating mass body (1), an inner frame (2), a wireless power supply module (3), a computer system (4), a mounting base (5), a rotor motor (6) and a frame motor (7);

[0007] The central rotating shaft of the rotating mass body (1) is installed with the driving shaft of the rotor motor (6) through interference fit, and the inner frame (2) is connected with the wireless power supply module (3), the computer system (4), and the rotor motor (6); the inner frame (2) is installed on the frame motor (7), and the mounting base (5) is connected with the frame motor (7);

[0008] The rotating mass body (1) is used to provide an external output torque.

[0009] The wireless power supply module (3) is used to supply power to the computer system (4) and the rotor motor (6).

[0010] The computer system (4) is used to control the rotation speed of the rotor motor (6) driving the rotating mass body (1), and uses a Bluetooth module to communicate with a host computer to control the rotation speed, direction and output rotation speed information of the rotor motor (6).

[0011] The rotor motor (6) is used to drive the rotating mass body (1).

[0012] The frame motor (7) is used to drive the inner frame (2) and change the direction of the angular momentum of the control moment gyroscope.

[0013] The rotating mass body (1) provides rotational inertia through high-speed rotation to establish angular momentum; the rotor motor (6) and the frame motor (7) provide driving torque for the rotating mass body (1) and the inner frame (2), so that the operating speed of the rotating mass body (1) reaches 1500r / min to 5000r / min; the inner frame (2) and the mounting base (5) provide support for the rotating mass body (1).

[0014] The nominal rotation speed of the rotating mass body (1) and the rotor motor (6) is 3300 r / min.

[0015] The wireless power supply design enables the inner frame (2) to rotate and maneuver without restriction, thereby improving the agility of the control moment gyro maneuverability and realizing the function of the control moment gyro to quickly output torque to the outside.

[0016] 2. A miniature wireless controlled torque gyroscope and working method suitable for an air floating platform according to claim 1, characterized in that: first, the rotor motor (6) is installed in the rotating mass body (1) with an interference fit; then the rotor motor (6) is installed in the inner frame (2) and fixed by screws; the frame motor (7) is assembled with the inner frame (2) and fixed by screws; the inner frame (2) is assembled on the mounting base (5) and fixed by screws; the computer system (4) is assembled on the inner frame (2) and fixed by screws; the wireless power supply module (3) is assembled on the inner frame (2) and glued; the wireless power supply module (3) is connected to the computer system (4) and soldered.

[0017] 3. A micro wireless controlled moment gyroscope and working method according to claim 1, characterized in that it comprises the following steps:

[0018] (1) Power on, so that the wireless power supply module (3) supplies power to the computer system (4) and the rotor motor (6).

[0019] (2) Host computer initialization: The host computer sends instructions to the computer system (4) through the Bluetooth module, so that the rotor motor (6) drives the rotating mass body (1) to reach the nominal speed.

[0020] (3) The host computer uses RS-485 communication to send instructions to the frame motor (7), so that the frame motor (7) drives the inner frame (2) to rotate to a desired angle as required, and the rotation speed of the rotating mass body (1) and the rotation angle of the inner frame (2) are displayed in real time in the host computer.

[0021] The advantages of the present invention compared with the prior art are:

[0022] The present invention discloses a miniature wireless controlled moment gyroscope and a working method, which uses a wireless power supply method to power a rotor motor (6) and a computer system (4). Compared with the prior art, the present invention adopts the above technical solution and has the following effects:

[0023] 1. Simple structure, easy operation, low cost and small space occupation.

[0024] 2. It has the advantages of unlimited rotation angle, etc. It realizes the function of controlling the torque gyro to quickly output torque to the outside, and solves the problem of rapid and large-scale attitude maneuvers of the air-floating platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a flow chart of the working method of the present invention;

[0026] Figure 2 It is a stereoscopic diagram of a miniature wireless controlled moment gyro frame for an air-floating platform of the present invention;

[0027] Figure 3 is a stereogram of the rotating mass body of the present invention;

[0028] Figure 4 This is a PCB diagram of a wireless controlled moment gyro computer of the present invention;

[0029] Figure 5 It is an analysis diagram of the computer system of the wireless controlled moment gyro of the present invention; DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution of the present invention is further described in detail below in conjunction with specific embodiments and drawings.

[0031] like Figure 1 As shown, the working method flow chart of the present invention is characterized in that it includes the following steps:

[0032] (1) Power on to supply power to the wireless power supply module (3) and the frame motor (7).

[0033] (2) Host computer initialization: The host computer sends instructions to the computer system (4) through the Bluetooth module, so that the rotor motor (6) drives the rotating mass body (1) to reach the nominal speed.

[0034] (3) The host computer uses RS-485 communication to send instructions to the frame motor (7), so that the frame motor (7) drives the inner frame (2) to rotate to a desired angle as required, and the rotation speed of the rotating mass body (1) and the rotation angle of the inner frame (2) are displayed in real time in the host computer.

[0035] The present invention discloses a miniature wireless controlled torque gyroscope and a working method, which adopts a wireless power supply method to supply power to a rotor motor (6) and a computer system (4).

[0036] like Figure 2 As shown, a stereoscopic diagram of a micro wireless controlled moment gyroscope frame for an air-floating platform of the present invention comprises a rotating mass body (1), an inner frame (2), a wireless power supply module (3), a computer system (4), a mounting base (5), a rotor motor (6) and a frame motor (7);

[0037] The central rotating shaft of the rotating mass body (1) is installed with the driving shaft of the rotor motor (6) through interference fit, and the inner frame (2) is connected with the wireless power supply module (3), the computer system (4), and the rotor motor (6) through screws; the inner frame (2) is installed on the frame motor (7) through screws, and the mounting base (5) is connected with the frame motor (7) through screws;

[0038] The rotating mass body (1), as shown in FIG. (3), is used to provide an external output torque. The rotating mass body (1) and the rotor motor (6) are preferably assembled by interference fit and screw fastening to ensure that the preferred gap between the rotating mass body (1) and the rotor motor (6) is 1 mm.

[0039] The wireless power supply module (3) is used to supply power to the computer system (4) and the rotor motor (6).

[0040] The computer system (4) is used to control the rotation speed of the rotor motor (6) driving the rotating mass body (1), and uses a Bluetooth module to communicate with a host computer to control the rotation speed, direction and output rotation speed information of the rotor motor (6).

[0041] The rotor motor (6) is used to drive the rotating mass body (1).

[0042] The frame motor (7) is used to drive the inner frame (2) and change the direction of the angular momentum of the control moment gyroscope.

[0043] The rotating mass body (1) provides rotational inertia through high-speed rotation to establish angular momentum; the rotor motor (6) and the frame motor (7) provide driving torque for the rotating mass body (1) and the inner frame (2), so that the operating speed of the rotating mass body (1) reaches 1500r / min to 5000r / min; the inner frame (2) provides support for the rotating mass body (1).

[0044] The nominal rotation speed of the rotating mass body (1) and the rotor motor (6) is 3300 r / min.

[0045] The preferred solution is: a rotating mass body (1) provides a rotational inertia to establish an angular momentum; a rotor motor (6) and a frame motor (7) provide a driving torque for the rotating mass body (1), so that the operating speed of the wireless micro-controlled torque gyro rotating mass body (1) reaches 1500r / min-5000r / min; and an inner frame (2) provides support for the rotating mass body (1).

[0046] The preferred solution is that the nominal rotation speed of the rotating mass body (1) and the rotor motor (6) is preferably 3300 r / min.

[0047] The wireless power supply design enables the inner frame (2) to rotate and maneuver without restriction, thereby improving the agility of the control moment gyro maneuverability and realizing the function of the control moment gyro to quickly output torque to the outside.

[0048] The preferred solution is as follows: when assembling the wireless micro-controlled torque gyroscope, firstly, the rotor motor (6) is installed in the rotating mass body (1) with an interference fit; then, the rotor motor (6) is installed in the inner frame (2) and fixed by screws; the frame motor (7) is installed in the inner frame (2) and fixed by screws; the inner frame (2) is assembled on the mounting base (5) and fixed by screws; the computer system (4) is assembled on the inner frame (2) and fixed by screws; the wireless power supply module (3) is assembled on the inner frame (2) and glued; the wireless power supply module (3) is connected to the computer system (4) and soldered.

[0049] Figure (5) is an analysis diagram of the computer system of the wireless controlled torque gyro of the present invention. The computer system (4) is powered by wireless power supply to drive the rotor motor (6). The host computer communicates with the frame motor (7) using the RS-485 protocol and communicates with the computer system (4) using the Bluetooth module to send control instructions and obtain the angle information of the frame motor (7) and the speed information of the rotor motor (6).

[0050] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A miniature wireless controlled moment gyroscope and a working method, characterized in that: It comprises a rotating mass body (1), an inner frame (2), a wireless power supply module (3), a computer system (4), a mounting base (5), a rotor motor (6) and a frame motor (7); The central rotating shaft of the rotating mass body (1) is installed with the driving shaft of the rotor motor (6) through interference fit, and the inner frame (2) is connected with the wireless power supply module (3), the computer system (4), and the rotor motor (6); the inner frame (2) is installed on the frame motor (7) through screws, and the mounting base (5) is connected with the frame motor (7) through screws; The wireless power supply module (3) is used to supply power to the computer system (4) and the rotor motor (6). The computer system (4) is used to control the rotation speed of the rotor motor (6) driving the rotating mass body (1), and uses a Bluetooth module to communicate with a host computer to control the rotation speed, direction and output rotation speed information of the rotor motor (6). The rotor motor (6) is used to drive the rotating mass body (1). The frame motor (7) is used to drive the inner frame (2) and change the direction of the angular momentum of the control moment gyroscope.

2. A miniature wireless controlled moment gyroscope and working method according to claim 1, characterized in that: The rotating mass body (1) establishes angular momentum by high-speed rotation, and the rotation speed of the rotating mass body (1) and the rotation angle of the inner frame (2) are displayed in real time in the host computer; The rotor motor (6) and the frame motor (7) provide driving torque for the rotating mass body (1) and the inner frame (2) respectively, so that the operating speed of the rotating mass body (1) reaches 1500 r / min to 5000 r / min; the inner frame (2) provides support for the rotating mass body (1).

3. A miniature wireless controlled moment gyroscope and working method according to claim 1, characterized in that: A wireless power supply design is adopted, and a wireless power supply module (3) supplies power to a computer system (4) and a rotor motor (6), so that the inner frame (2) can rotate and maneuver without restriction, thereby improving the agility of the control moment gyro maneuverability and realizing the function of the control moment gyro to quickly output torque to the outside.

4. A miniature wireless controlled moment gyroscope and working method suitable for an air-floating platform according to claim 1, characterized in that: The following steps are involved: (1) Power on to supply power to the wireless power supply module (3) and the frame motor (7). (2) Host computer initialization: The host computer sends instructions to the computer system (4) through the Bluetooth module, so that the rotor motor (6) drives the rotating mass body (1) to reach the nominal speed. (3) The host computer uses RS-485 communication to send instructions to the frame motor (7), so that the frame motor (7) drives the inner frame (2) to rotate to the required angle as required.

5. A miniature wireless controlled moment gyroscope and working method suitable for an air-floating platform according to claim 1, characterized in that: First, the rotor motor (6) is installed in the rotating mass body (1) with an interference fit; then the rotor motor (6) is installed in the inner frame (2) and fixed by screws; the frame motor (7) of the inner frame (2) is installed on the frame motor (7) and fixed by screws; the inner frame (2) is assembled on the frame motor (7) and fixed by screws; the computer system (4) is assembled on the inner frame (2) and fixed by screws; the wireless power supply module (3) is assembled on the inner frame (2) and glued; the wireless power supply module (3) is connected to the computer system (4) and soldered.

Images