Recoilless posture control device using control moment gyro

Abstract

The present invention relates to an attitude control device configured to generate torque in the opposite direction for maintaining the attitude of a body to which torque is applied, by utilizing a change in angular momentum to generate the torque, thereby enabling the realization of a recoil-free effect. It is characterized by comprising one or a pair of control moment gyroscopes that rotate while installed in a rotatable form on an internal frame to which a torque shaft is connected in one external direction, and generate torque based on the torque shaft, and an output module that converts the torque generated by the control moment gyroscopes while installed on the torque shaft and outputs it in a unidirectional manner.

Description

Technology Field

[0001] The present invention relates to a recoil-free attitude control device utilizing a control moment gyro, and more specifically, to an attitude control device configured to generate torque in the opposite direction to maintain the attitude of a body to which torque is applied, by utilizing a change in angular momentum to generate the torque, thereby enabling the realization of a recoil-free effect. Background Technology

[0003] Generally, when generating a certain amount of torque using a motor for the purpose of rotating a body or maintaining its attitude, a support or compensation control system must be provided to support or offset the reaction torque generated according to the law of action and reaction.

[0004] In other words, if torque is generated without the support or compensation control system as described above, problems may arise such as the rotation of the target body becoming unstable or the inability to maintain the body's attitude as originally intended.

[0005] However, since the provision of support structures or compensation control systems may incur significant costs and result in a complex body structure, it can be said that an alternative is needed to rotate the body or maintain its attitude in a different way, instead of using the reaction torque generated by the motor's rotation.

[0006] And as an alternative, the control moment gyroscope proposed in inventions such as Korean Registered Patent Publication No. 10-1474274 and Korean Registered Patent Publication No. 10-2638910 can be used.

[0007] In other words, the control moment gyroscope is a device that generates torque using the gyroscope principle and is primarily used for generating torque to change the direction or stabilize the attitude of artificial satellites; since it allows for a relatively simple configuration, it is suitable as an alternative to the aforementioned problem.

[0008] However, control moment gyroscopes have the disadvantage that the torque axis where torque is generated continuously changes according to the angle change of the gimbal axis, making direct application difficult; in practice, they are limited to being used only in specialized fields such as aerospace.

[0009] Therefore, in order to enable the use of the above-mentioned control moment gyroscope in various fields for the purpose of body rotation or attitude maintenance, it is absolutely necessary to resolve the problem where the torque axis where torque is generated continuously changes according to the angle change of the gimbal axis. Prior art literature

[0011] Korean Patent Publication No. 10-1474274 (December 12, 2014) Korean Patent Publication No. 10-2638910 (February 16, 2024) The problem to be solved

[0012] The present invention is an invention proposed for the purpose of solving inherent problems arising from the characteristics of the control moment gyro as described above,

[0013] The problem of inevitable recoil occurring during the process of generating torque using the reaction force of motor rotation is solved by using a control moment gyroscope,

[0014] The purpose is to present a clear solution to the problem where the torque axis, which generates torque by the operation of the control moment gyro, continuously changes according to the angle change of the gimbal axis. means of solving the problem

[0016] The present invention aims to realize the above-mentioned objectives,

[0017] A posture control device utilizing a control moment gyro is presented, characterized by comprising: a control moment gyro that rotates while installed in a rotatable form on an inner frame to which a torque shaft is connected in an external direction, and generates a torque based on the torque shaft; and an output module that converts the torque generated by the control moment gyro while installed on the inner frame using a torque shaft provided on one side and outputs it in a unidirectional manner.

[0018] In addition, the present invention provides a recoil-free attitude control device using a control moment gyroscope, characterized by comprising: a pair of control moment gyroscopes that rotate in opposite directions and generate torque based on the torque axis while being installed in a rotatable form on an inner frame to which a torque axis is connected in an external direction; and an output module that converts the torque generated by the control moment gyroscopes installed on the inner frame using a torque axis provided on one side and outputs it in a unidirectional manner.

[0019] At this time, the present invention is characterized by further comprising an external frame that is mutually connected to an output module in a manner that accommodates the internal frame, and is coupled and installed on one side of a body requiring attitude control to easily transmit unidirectional torque output by the output module to the body. Effects of the invention

[0021] A recoil-free attitude control device using a control moment gyro according to the present invention is,

[0022] The effect is that the problem of inevitable recoil occurring during the process of generating torque using the reaction force of motor rotation can be solved by using a control moment gyroscope, a device that generates torque using the change in angular momentum, as an alternative.

[0023] In addition, a configuration utilizing an internal frame in which one or more control moment gyroscopes are rotatably installed and an output module installed on the torque axis of the internal frame results in the effect of generating torque only at a fixed position and simultaneously outputting unidirectional torque, despite changes in the angle of the gimbal axis.

[0024] In addition, the present invention enables the stable transmission of torque output unidirectionally from the output module using an external frame, thereby providing the effect of enabling efficient attitude control of the body. Brief explanation of the drawing

[0026] FIG. 1 is a perspective view showing one embodiment of a recoil-free attitude control device using a control moment gyroscope according to the present invention. FIG. 2 is a perspective view showing another embodiment of a recoil-free attitude control device using a control moment gyroscope according to the present invention. FIG. 3 is an exemplary diagram showing a pair of control moment gyroscopes constituting the present invention rotated in different directions. FIGS. 4a to 4c are flowcharts showing the process of installing a control moment gyroscope in an internal frame constituting the present invention. FIG. 5 is an exploded view showing the internal structure of an output module constituting the present invention. FIGS. 6A and 6B are perspective views showing the state in which an external frame is additionally mounted on the control moment gyroscope and output module constituting the present invention. FIG. 7 is an exemplary diagram showing a state in which a recoil-free attitude control device using a control moment gyro according to the present invention is provided on one side and the other side of the fuselage, respectively. Specific details for implementing the invention

[0027] The present invention relates to a recoil-free attitude control device using a control moment gyroscope (100),

[0028] As illustrated in FIG. 1, the control moment gyroscope (100) rotates while installed in a rotatable form on an inner frame (10) to which a torque shaft (210) is connected in an external direction, and generates a torque based on the torque shaft (210); and an output module (200) that converts the torque generated by the control moment gyroscope (100) while installed on the inner frame (10) using a torque shaft (210) provided on one side and outputs it in a unidirectional manner.

[0029] Additionally, as illustrated in FIG. 2, the present invention is characterized by comprising: a pair of control moment gyroscopes (100) that rotate in opposite directions and generate torque based on the torque shaft (210) while being installed in a rotatable form on an inner frame (10) to which the torque shaft (210) is connected in an external direction; and an output module (200) that converts the torque generated by the control moment gyroscope (100) installed on the inner frame (10) using the torque shaft (210) provided on one side and outputs it in a unidirectional manner.

[0031] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0032] First, the above-mentioned control moment gyroscope (100) is a device that generates torque using the principle of a gyroscope, and is configured to rotate using a fixed shaft (20) while being installed in a rotatable form on an inner frame (10) to which a torque shaft (210) is connected in one direction externally.

[0033] At this time, as shown in FIG. 1, the control moment gyroscope (100) may be provided as a single unit and installed alone in the inner frame (10), and as shown in FIG. 2, a pair may be provided and installed in the inner frame (10) in the same position.

[0034] That is, the control moment gyroscope (100) can be rotated independently using a single fixed axis (20) to generate torque based on the torque axis (210), or, as shown in FIG. 3, can be rotated in opposite directions using a pair of fixed axes (20) to generate torque in different directions based on the torque axis (210).

[0035] Accordingly, as illustrated in FIGS. 4a to 4c, the inner frame (10) must be provided with a fastening part (11) that allows a torque shaft (210) to be fastened in one direction of the outside.

[0036] In addition, the inner frame (10) must be configured with a space for installing the control moment gyroscope (100) and a plurality of fastening holes (12) on both sides, and the control moment gyroscope (100) can be installed in a form that allows it to rotate in place using the plurality of fastening holes (12).

[0037] In other words, the control moment gyroscope (100) can be installed in the internal space of an internal frame (10) in such a way that a fixed shaft (20) is connected to one side and a shaft of a driving motor (30) is connected to the other side, and can rotate in place while fixed by the fixed shaft (20) and the shaft of the driving motor (30).

[0038] And a control unit (not shown) must be provided to control one or a pair of drive motors (30) so that one control moment gyroscope (100) rotates alone or a pair of control moment gyroscopes (100) rotate simultaneously in opposite directions or at the same speed.

[0039] At this time, the control moment gyro (100) may be configured to include a cylindrical housing (110) having a hollow inside, a rotor installed in a rotatable form inside the hollow inside the housing (110), and a spin motor that rotates the rotor, and may generate torque in a desired direction by causing the entire unit to rotate at the same time as the rotor inside rotates.

[0040] In other words, since the axis of rotation of a rotating body has the property of maintaining a constant angular velocity, changing the angle of this axis of rotation generates torque in the direction opposite to the direction of rotation on an axis perpendicular to the axis of rotation.

[0041] According to this principle, when the control moment gyroscope (100) is rotated at a certain angle with respect to the axial direction, a torque is generated with respect to the torque axis (210) of the inner frame (10) formed at a position orthogonal to the axial direction.

[0042] In addition, when a pair of control moment gyroscopes (100) are installed in the inner frame (10), if the pair of control moment gyroscopes (100) are rotated at a certain angle relative to their respective axial directions, torque is generated in different directions relative to the torque axis (210) of the inner frame (10) formed at a position orthogonal to the axial direction.

[0043] At this time, the method of generating torque by utilizing the change in angular momentum as described above does not induce the generation of reaction torque, so as a result, a non-recoil effect can be achieved in the process of generating torque.

[0044] In addition, a pair of control moment gyroscopes (100) installed in the inner frame (10) are configured to rotate in opposite directions to always maintain symmetry, and since the rotors installed inside each housing (110) rotate in opposite directions, an additional effect occurs in which unnecessary torque generated by the rotation of each control moment gyroscope (100) is offset from each other.

[0045] That is, the present invention can not only achieve a recoil-free effect in the process of generating torque using the pair of control moment gyroscopes (100), but also eliminate unnecessary disturbance torque, so as a result, the effect of making attitude control of the body more precise can be achieved.

[0046] However, when using only one control moment gyro (100), the above-mentioned damping effect of disturbance torque cannot be expected, but since the recoil-free effect occurs equally, the effect of attitude control for the body is sufficiently achieved.

[0047] As such, the present invention has the effect of solving the problem of inevitable recoil occurring in the process of generating torque using the reaction force of the motor's rotation by using a control moment gyroscope (100), which is a device that generates torque using a change in angular momentum.

[0049] Additionally, the output module (200) is a device that converts the torque generated by the pair of control moment gyroscopes (100) and outputs it in a unidirectional manner, and by using a torque shaft (210) provided on one side, the torque formed with respect to the torque shaft (210) while installed in the inner frame (10) is always output in the same direction.

[0050] At this time, as illustrated in FIG. 5, the output module (200) may be configured to include a torque shaft (210) for installation into an internal frame (10), a first clutch wheel (220) and a first bevel gear (230) installed to rotate in opposite directions.

[0051] Additionally, it may be configured to include, inside, a second to fourth bevel gear (240, 250, 260) installed to rotate in conjunction with the first bevel gear (230), a second clutch wheel (270) installed to rotate in conjunction with the fourth bevel gear (260), and an output shaft (280) installed to rotate in conjunction with the first clutch wheel (220) and the second clutch wheel (270) and rotates to output torque.

[0052] That is, when the control moment gyro (100) is configured to rotate independently and a forward torque is generated on the torque shaft (210), if rotation of the first clutch wheel (220) occurs due to the forward torque, rotation of the output shaft (280) linked to the first clutch wheel (220) occurs in a chain reaction, and as a result, a forward torque output is generated.

[0053] Conversely, when reverse torque is generated on the torque shaft (210), the rotation of the first to fourth bevel gears (230, 240, 250, 260) occurs simultaneously due to the reverse torque, and the rotation of the second clutch wheel (270) linked to the fourth bevel gear (260) occurs, and subsequently, the rotation of the output shaft (280) linked to the second clutch wheel (270) occurs in a chain reaction, resulting in a forward torque output.

[0054] In addition, when the above pair of control moment gyroscopes (100) are configured to rotate in opposite directions, rotation of the first clutch wheel (220) occurs simultaneously with rotation of the first to fourth bevel gears (260) and the second clutch wheel (270), and as a result, the first clutch wheel (220) and the second clutch wheel (270) simultaneously rotate the output shaft (280).

[0055] In this way, the output shaft (280) is configured to rotate in the same direction under any circumstances, and as a result, the output module (200) can always output torque in a unidirectional manner.

[0057] In addition, as illustrated in FIGS. 6a and 6b, the present invention is characterized by further comprising an external frame (300) that is coupled to an output module (200) in a manner that accommodates the internal frame (10) and is installed on one side of a body requiring attitude control to transmit unidirectional torque output by the output module (200) to the body.

[0058] In this way, the outer frame (300) is a device that transmits unidirectional torque output by the output module (200) to the body, and is provided with a structure that simultaneously supports the inner frame (10) and the output module (200) and is installed in combination on one side of the body.

[0059] That is, the outer frame (300) is fixedly installed on one side of the fuselage using a plurality of brackets (320) in a manner that accommodates the inner frame (10) and the output module (200) in the internal space, thereby allowing torque for attitude control to be transmitted to the fuselage.

[0060] As an embodiment of the present invention regarding this, as shown in FIGS. 6a and 6b, the outer frame (300) may be configured in a 'C' shape or an arched structure that supports both ends of the output module (200) and simultaneously supports the inner frame (10) using a fastening shaft (13) provided in the other direction of the inner frame (10).

[0061] That is, the outer frame (300) may be configured in a U-shape or an arched shape having a fixing hole (310) formed in the center and a plurality of screw holes formed at both ends, and a plurality of brackets (320) provided on one side, and the inner frame (10) may be supported using the fixing hole (310), and the output module (200) may be installed by a screw fastening method using the plurality of screw holes.

[0062] As a result, the outer frame (300) can stably support the inner frame (10) and the output module (200) while minimizing the increase in weight, and can also be installed in a stable form on one side of the body to efficiently transmit torque for attitude control.

[0063] Meanwhile, a recoilless attitude control device (1) configured to include one or a pair of control moment gyroscopes (100), an output module (200), and an external frame (300) may be installed on only one side of the fuselage to transmit torque for attitude control, but another recoilless attitude control device (1) may be additionally installed on the fuselage to make attitude control more efficient.

[0064] That is, as shown in FIG. 7, a pair of recoilless attitude control devices (1) according to the present invention can be additionally mounted on the outside or inside of the fuselage in the same axial direction and used for attitude control of the fuselage, and if necessary, a larger number of recoilless attitude control devices (1) can be additionally mounted on the fuselage to enable efficient attitude control.

[0065] Although a vehicle, which is a type of body, is illustrated in FIG. 7 as an example, the present invention can be applied to all bodies such as ships, drones, and satellites.

[0066] In this way, the present invention enables the torque output unidirectionally from the output module (200) to be stably transmitted using the external frame (300), thereby producing the effect of enabling efficient attitude control of the body.

[0068] The embodiments described above are provided as examples to ensure that the technical concept of the present invention is sufficiently conveyed to those skilled in the art to which the present invention belongs, and the present invention is not limited to the embodiments described above and may be embodied in other forms.

[0069] To clearly explain the present invention, parts unrelated to the explanation have been omitted from the drawings, and in the drawings, the width, length, thickness, etc. of the components may be exaggerated or reduced for convenience.

[0070] In addition, the same reference numbers throughout the specification represent the same components. Explanation of the symbols

[0072] 1: Recoil-free attitude control system 10 : Inner frame → 11 : Fastening part → 12 : Fastening hole → 13 : Fastening shaft 20 : Fixed axis 30: Drive motor 100 : Control moment gyro → 110 : Housing 200: Output Module → 210: Torque Shaft → 220 : 1st clutch wheel → 230 : 1st bevel gear → 240 : 2nd bevel gear → 250 : 3rd bevel gear → 260 : 4th bevel gear → 270 : Second clutch wheel → 280 : Output axis 300 : Outer frame → 310 : Fixing hole → 320 : Bracket

Claims

Claim 1 A recoil-free attitude control device using a control moment gyro, characterized by comprising: a control moment gyro (100) that rotates while installed in a rotatable form on an inner frame (10) to which a torque shaft (210) is connected in an external direction, and generates a torque based on the torque shaft (210); and an output module (200) that converts the torque generated by the control moment gyro (100) while installed on the inner frame (10) using a torque shaft (210) provided on one side and outputs it in a unidirectional manner; wherein the device further comprises an outer frame (300) that is mutually connected to the output module (200) in a form that accommodates the inner frame (10), is coupled to one side of a body requiring attitude control, and transmits the unidirectional torque output by the output module (200) to the body. Claim 2 A recoil-free attitude control device using a control moment gyroscope, characterized by comprising: a pair of control moment gyroscopes (100) that are rotatably installed on an inner frame (10) to which a torque shaft (210) is connected in an external direction, and rotate in opposite directions to generate torque based on the torque shaft (210); and an output module (200) that converts the torque generated by the control moment gyroscope (100) installed on the inner frame (10) using a torque shaft (210) provided on one side and outputs it in a unidirectional manner; wherein the device further comprises an outer frame (300) that is mutually connected to the output module (200) in a manner that accommodates the inner frame (10), and is coupled to one side of a body requiring attitude control to transmit the unidirectional torque output by the output module (200) to the body. Claim 3 delete Claim 4 A recoilless attitude control device using a control moment gyro, characterized in that, in claim 1 or 2, two or more pairs of recoilless attitude control devices (1) are installed on the fuselage and configured to be used for attitude control of the fuselage.

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