Control moment gyroscope with planetary mechanism
By employing a planetary mechanism and magnetic drive design, the problems of miniaturization and high speed of the control moment gyroscope were solved, achieving high rotor speed and high angular momentum density, thereby improving the performance of the control moment gyroscope and reducing production costs.
Patent Information
- Application Number
- CN202511844957.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-09
- Publication Date
- 2026-03-03
AI Technical Summary
Existing control moment gyroscopes suffer from reduced rotor angular momentum during miniaturization and high-speed operation, making it difficult to generate effective control torque even after reducing size and weight.
The design employs a planetary mechanism in conjunction with the rotor and frame. By combining the sun gear, planet carrier, gear ring, and planet gears, the rotor achieves high speed. The planet carrier is driven to rotate by the magnetic force of the stator windings and permanent magnets, thereby improving space utilization and rotor speed.
It has achieved miniaturization and cost reduction of control torque gyroscope, increased rotor speed to 20,000-30,000 rpm, increased angular momentum density, enhanced output torque capability, reduced attitude adjustment delay by more than 30%, and reduced production costs.
Smart Images
Figure CN121596926A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of control moment gyroscope technology, specifically relating to a control moment gyroscope with a planetary mechanism. Background Technology
[0002] The control torque gyroscope is an automation term approved and released by the National Committee for the Approval of Scientific and Technological Terminology in 1990. Its core function is to generate control torque by changing the direction of rotor angular momentum, and it is a key actuator in motor control systems.
[0003] The output torque of a control torque gyroscope can be continuously controlled by adjusting the angular velocity of the "frame". Its working principle is based on the momentum exchange mechanism and it is mainly used in the field of spacecraft attitude stabilization and maneuver control.
[0004] The core components of a control torque gyroscope are a rotor and a frame, and its main functions are: 1. The rotor maintains a constant angular momentum vector; 2. The motion of the frame changes the direction of angular momentum; 3. The rate of change of angular momentum corresponds to the output torque.
[0005] Through precise control of the frame servo system, mechanical energy can be converted into control torque acting on the equipment. This torque is positively correlated with the frame's rotational angular velocity, enabling the control system to achieve continuously adjustable torque output. In a two-wheeled platform, the control torque gyroscope achieves more precise torque control by adjusting the frame's angular velocity, thus improving the dynamic stability of the two-wheeled platform.
[0006] Currently, miniaturization, high speed, and low cost are the main trends in the development of control torque gyroscopes. Miniaturization means that the rotor must be high-speed, and the rotor motor needs to be redesigned to achieve high speed. After high speed, the requirements for bearings will also increase, such as the use of high-precision bearings.
[0007] Based on the above requirements, a control torque gyroscope with a planetary mechanism is provided. Summary of the Invention
[0008] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a control torque gyroscope with a planetary mechanism.
[0009] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows: A control moment gyroscope with a planetary mechanism includes a rotor with adjustable rotation speed, a frame for changing the direction of the rotor's angular momentum, and also includes a sun gear, a planet carrier, a ring gear, and planet gears. The sun gear is fixed inside the frame and the interior is reserved for installing the rotor. One end of the rotor is rotatably connected to the sun gear and the other end is rotatably connected to the frame. The stator winding is arranged on the outer ring of the sun gear. The gear ring is arranged on the rotor; The planet carrier is rotatably connected to the frame, and the planet carrier is rotatably connected to the planet gears. The planet gears mesh with both the gear ring and the sun gear. Permanent magnets are arranged on the planet carrier.
[0010] In this invention, a planetary mechanism consisting of a sun gear, a planet carrier, a gear ring, and planet gears is used to increase the speed, thereby achieving high speed. The reason why high speed promotes the miniaturization of the control torque gyroscope is that miniaturization means that we need to reduce the size and mass of the gyroscope. If the rotor speed is not increased while miniaturizing, the angular momentum will become smaller. At this time, even if the frame rotates very fast, it will not be able to generate the required control torque. Therefore, in order to maintain a sufficiently large angular momentum to generate effective control torque after the volume and weight are greatly reduced, it is necessary to greatly increase the rotor speed to compensate for the drastic decrease in rotational inertia due to the reduction in size. Specifically, increasing the rotor speed can significantly increase angular momentum density and power efficiency. For every doubling of the speed, angular momentum increases linearly, and the output torque capability is enhanced simultaneously. Under the same angular momentum requirement, high speed can reduce the rotor mass to 1 / 4. At high speeds, the gyroscopic torque generated by the frame motion is more sensitive, and the attitude adjustment delay is shortened by more than 30%. In this invention, the stator winding on the sun gear generates a magnetic field after being energized. This magnetic field interacts with the magnetic field of the permanent magnet on the planet carrier and drives the planet carrier to rotate about the frame through magnetic force. While the planet carrier drives the planet gear to rotate together, the planet gear itself rotates under the meshing action of the sun gear. At this time, the planet gear simultaneously performs revolution and rotation motion and drives the outer gear ring and rotor to rotate at an accelerated speed. In this invention, the planetary mechanism adapts to miniaturization by increasing the speed of the rotor. On the other hand, it makes reasonable use of the limited space inside the frame by rationally matching itself with the stator winding and permanent magnet, thereby improving space utilization and further promoting the miniaturization of the control torque gyroscope from the perspective of space utilization.
[0011] The beneficial effects of this invention are: 1. This invention uses a planetary mechanism in conjunction with a low-speed motor to increase the rotor speed. At a rotor speed of 20,000 to 30,000 rpm, ordinary steel rotors and industrial bearings can meet the material requirements, further reducing production costs.
[0012] 2. This invention improves the control moment gyroscope by increasing its speed, and effectively utilizes the internal space through the reasonable combination of planetary mechanism and rotor, which is conducive to the development of high-speed, miniaturized and low-cost control moment gyroscopes. Attached Figure Description
[0013] The present invention can be further illustrated by the non-limiting embodiments given in the accompanying drawings; Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention; Figure 2 For the embodiments of the present invention in Figure 1 Cross-sectional view of the central rotor; The symbols for the main components are explained below: 1. Lower end cap; 2. The second bolt; 3. Lower casing; 4. Lower bearing; 5. Left bearing; 6. Rotor; 61. Shaft; 63. Outer ring; 62. Transition plate; 7. Upper shell; 8. Planetary gears; 9. Planetary gear bearings; 10. Planetary carrier bearings; 11. Planetary support; 12. Permanent magnet; 13. Stator windings; 14. First bolt; 15. Upper bearing; 16. Sun Gear; 18. Right bearing; 19. Joint reducer. Detailed Implementation
[0014] The technical solutions of the present invention will be described in detail below with reference to specific embodiments and accompanying drawings. The embodiments described herein are specific implementations of the present invention, used to illustrate the concept of the present invention; these descriptions are explanatory and exemplary, and should not be construed as limiting the implementation methods or the scope of protection of the present invention. In addition to the embodiments described herein, those skilled in the art can employ other obvious technical solutions based on the content disclosed in the claims and specification of this application. These technical solutions include those that make any obvious substitutions and modifications to the embodiments described herein. Example 1
[0015] like Figure 1As shown, this embodiment provides a control torque gyroscope with a planetary mechanism, including a rotor 6 with adjustable speed, a frame for changing the direction of rotor angular momentum, and also a sun gear 16, a planet carrier 11, a gear ring, and planet gears 8; The sun gear 16 is fixed inside the frame and has space reserved inside for installing the rotor 6. One end of the rotor 6 is rotatably connected to the sun gear 16, and the other end is rotatably connected to the frame. The stator winding 13 is arranged on the outer ring of the sun gear 16. The gear ring is arranged on rotor 6; The planet carrier 11 is rotatably connected to the frame and the planet gear 8. The planet gear 8 meshes with both the gear ring and the sun gear 16. A permanent magnet 12 is arranged on the planet carrier 11.
[0016] In this embodiment, a planetary mechanism consisting of a sun gear 16, a planet carrier 11, a gear ring, and planet gears 8 is used to increase the speed, thereby achieving the purpose of increasing the rotational speed of the rotor 6 and realizing high speed. The reason why high speed promotes the miniaturization of the control torque gyroscope is that miniaturization means that we need to reduce the size and mass of the gyroscope. If the rotational speed of the rotor 6 is not increased while miniaturizing, the angular momentum will become smaller. At this time, even if the frame rotates very fast, it will not be able to generate the required control torque. Therefore, in order to maintain a sufficiently large angular momentum to generate effective control torque after the volume and weight are greatly reduced, it is necessary to greatly increase the rotational speed of the rotor 6 to compensate for the drastic decrease in rotational inertia due to the reduction in size. Specifically, increasing the rotor speed can significantly increase angular momentum density and power efficiency. For every doubling of the speed, angular momentum increases linearly, and output torque capability is enhanced simultaneously. Under the same angular momentum requirement, high speed can reduce rotor mass to 1 / 4. At high speeds, the gyroscopic torque generated by frame motion is more sensitive, and attitude adjustment delay is shortened by more than 30%. In this embodiment, the stator winding 13 on the sun gear 16 generates a magnetic field after being energized. This magnetic field interacts with the magnetic field of the permanent magnet 12 on the planet carrier 11 and drives the planet carrier 11 to rotate about the frame through magnetic force. While the planet carrier 11 drives the planet gear 8 to rotate together, the planet gear 8 rotates on its own under the meshing action of the sun gear 16. At this time, the planet gear 8 simultaneously performs revolution and rotation and drives the outer gear ring and rotor to rotate at an accelerated speed. In this embodiment, the planetary mechanism adapts to miniaturization by increasing the speed of the rotor. On the other hand, it makes reasonable use of the limited space inside the frame by combining itself with the stator winding 13 and the permanent magnet 12, thereby improving the space utilization rate and further promoting the miniaturization of the control torque gyroscope from the perspective of space utilization. In this embodiment, the combination of stator winding 13 and permanent magnet 12 is actually equivalent to a low-speed permanent magnet synchronous motor. However, through the speed-increasing effect of the planetary mechanism, the low speed output of the low-speed permanent magnet synchronous motor can be converted into a high speed, thereby adapting to the high speed requirements of the control torque gyroscope in the miniaturization process. If a high-speed motor is used directly, it will face the challenges of redesign, manufacturing, and dealing with the heat and vibration problems caused by the high speed of the motor. In this embodiment, the speed of rotor 6 can be increased to 20,000 to 30,000 rpm, which is a reliable operating range for steel rotors, reducing rotor costs.
[0017] In some alternative instances, the planetary gear 8 is connected to the planet carrier 11 via a planetary gear bearing 9, and the planetary gear bearing 9 is axially limited by a snap ring 17 mounted on the planet carrier 11. Example 2
[0018] like Figure 1 As shown, this embodiment provides a control torque gyroscope with a planetary mechanism. The difference from embodiment 1 is that it solves the problems of frame rotation and frame output. The frame is rotatably connected to the left bearing 5 and the right bearing 18, and the output end of the frame is connected to the joint reducer 19.
[0019] In this embodiment, the frame is supported by the left bearing 5 and the right bearing 18 so that the frame can rotate under constraints. The joint reducer 19 maintains its performance by reducing speed and increasing torque while miniaturizing itself.
[0020] In some optional examples, the left bearing 5 and the right bearing 18 are grease-lubricated bearings, which are maintenance-free. Example 3
[0021] like Figure 1 and 2 As shown, this embodiment provides a control torque gyroscope with a planetary mechanism. The difference from embodiment 1 is that the structure of the rotor 6 is clearly defined. The rotor 6 is provided with a rotating shaft 61, an outer ring 63 and a transition plate 62 connecting the two. The thickness of the transition plate 62 is less than the height of the outer ring 63. The gear ring is arranged on the inner wall of the outer ring 63; A groove is formed between the rotating shaft 61 and the outer ring 63, and the planetary gear 8 is located in the groove.
[0022] In this embodiment, the groove formed between the rotating shaft 61 and the outer ring 63 is used to accommodate the planetary gear 8. The gear ring is also located within the groove. More specifically, the gear ring is located on the inner wall of the outer ring 63. This can improve the rotational inertia of the rotor. In order to realize the connection between the planetary gear 8 and the sun gear 16, a part of the sun gear 16 should also be inserted into the groove. For the above reasons, the groove can greatly improve the space utilization rate and is conducive to the miniaturization of the control torque gyroscope. Example 4
[0023] like Figure 1 As shown, this embodiment provides a control torque gyroscope with a planetary mechanism. The difference from embodiment 1 is that the specific structure of the frame is clarified. The frame includes an upper shell 7 and a lower shell 3. The rotor 6 is connected to a lower bearing 4 at one end near the lower shell 3. The outer ring of the lower bearing 4 is fixed to the lower shell 3. The rotor 6 is connected to an upper bearing 15 at one end near the upper shell 7. The outer ring of the upper bearing 15 is in contact with and fixed to the inner wall of the sun gear 16. The planet carrier 11 is rotatably connected to the upper shell 7 through the planet carrier bearing 10. The upper shell 7 is fixedly connected to the sun gear 16.
[0024] In this embodiment, the upper shell 7 and the lower shell 3 form a split design, which facilitates production, assembly and installation of internal mechanisms. Depending on actual needs, the interior of the frame can be designed as a vacuum or a non-vacuum. The sun gear 16 is fixedly connected to the upper housing 7, which can be achieved by bolt fixing or other conventional fixing methods. Figure 1 In the middle, the sun gear 16 is fixed to the upper housing 7 using the first bolt 14; The rotor 6 rotates under the support of the upper bearing 15 and the lower bearing 4. Since the present invention increases the rotational speed of the rotor 6 to 20,000 to 30,000 rpm, industrial bearings can meet the requirements of this rotational speed, and there is no need to use high-precision bearings. Therefore, it also has a significant cost advantage.
[0025] In some optional examples, the lower housing 3 is provided with an opening, and a lower end cover 1 for opening and closing is detachably connected to the lower housing 3 at the opening. The opening is mainly to facilitate the installation of the internal structure. The lower end cover 1 can close and open the opening. The lower end cover 1 is fixed to the lower housing 3 by a second bolt 2. In addition, the opening can also be used to install the lower bearing 4. The lower end cover 1 abuts against the outer ring of the lower bearing 4 and can also help fix the lower bearing 4.
[0026] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.
Claims
1. A control torque gyroscope with a planetary mechanism, comprising a rotor (6) with adjustable rotational speed and a frame for changing the direction of the rotor's angular momentum, characterized in that: It also includes the sun gear (16), the planet carrier (11), the gear ring, and the planet gears (8); The sun gear (16) is fixed inside the frame and has a space reserved inside for installing the rotor (6). One end of the rotor (6) is rotatably connected to the sun gear (16) and the other end is rotatably connected to the frame. The outer ring of the sun gear (16) is arranged with stator windings (13). The gear ring is arranged on the rotor (6); The planet carrier (11) is rotatably connected to the frame, and the planet carrier (11) is rotatably connected to the planet gear (8). The planet gear (8) meshes with both the gear ring and the sun gear (16). A permanent magnet (12) is arranged on the planet carrier (11).
2. A control torque gyroscope with a planetary mechanism according to claim 1, characterized in that: The frame is rotatably connected to the left bearing (5) and the right bearing (18), and the output end of the frame is connected to the joint reducer (19).
3. A control torque gyroscope with a planetary mechanism according to claim 1, characterized in that: The rotor (6) is provided with a rotating shaft (61), an outer ring (63) and a transition plate (62) connecting the two, the thickness of the transition plate (62) being less than the height of the outer ring (63); The toothed ring is arranged on the inner wall of the outer ring (63); A groove is formed between the rotating shaft (61) and the outer ring (63), and the planetary gear (8) is located in the groove.
4. A control torque gyroscope with a planetary mechanism according to any one of claims 1 to 3, characterized in that: The frame includes an upper housing (7) and a lower housing (3). The rotor (6) is connected to a lower bearing (4) at one end near the lower housing (3). The outer ring of the lower bearing (4) is fixed to the lower housing (3). The rotor (6) is connected to an upper bearing (15) at one end near the upper housing (7). The outer ring of the upper bearing (15) is in contact with and fixed to the inner wall of the sun gear (16). The planet carrier (11) is rotatably connected to the upper housing (7) through a planet carrier bearing (10). The sun gear (16) is fixedly connected to the upper housing (7).
5. A control torque gyroscope with a planetary mechanism according to claim 4, characterized in that: The lower housing (3) is provided with an opening, and the lower housing (3) is detachably connected to a lower end cover (1) for opening and closing at the opening.