Ultra-small satellite attitude controller

Abstract

An embodiment of the present invention provides an ultra-small satellite attitude controller comprising: a casing forming an exterior and having an inner space; and multiple control moment gyro modules disposed in the inner space, each module having a gimbal motor and a spin motor for adjusting the attitude of a satellite. Each of the control moment gyro modules is equipped with an origin position detection unit for identifying the initial origin position of the spin motor through detection of a position guide bar protruding to the outside of the spin motor. The origin position detection unit is formed in a non-encoder structure so that the control moment gyro module can be manufactured in a small size.

Description

Microsatellite attitude controller

[0001] The present invention relates to a micro satellite attitude controller, and more specifically, to a micro satellite attitude controller having a small and simple structure and configured to easily determine the initial origin position of a spin motor constituting a control moment gyroscope.

[0002] Generally, control moment gyroscopes (CMGs) are used to control the attitude of ships, aircraft, and artificial satellites. These control moment gyroscopes can control the attitude of artificial satellites through the gyroscopic torque generated by the moment.

[0003] Such a control moment gyroscope may include a flywheel, a spin motor, a gimbal motor, and an encoder. The gimbal motor rotates the flywheel, which is being rotated at high speed by the spin motor, in the required direction and controls the attitude of the satellite.

[0004] In the attitude control of such satellites, determining the initial origin position of the spin motor that rotates the flywheel is crucial. This is because if the initial origin position of the spin motor, which is rotated by the gimbal motor, is not accurately known, the required torque cannot be provided precisely, making it impossible to accurately control the satellite's attitude.

[0005] Therefore, a conventional control moment gyroscope is equipped with an encoder to determine the initial origin position of the spin motor rotated by the gimbal motor.

[0006] However, conventional control moment gyroscopes equipped with encoders have the problem of a complex overall device structure and an increased size of the control moment gyroscope.

[0007] Therefore, various research and developments are being conducted on control moment gyroscopes that have a simple structure and are designed to easily determine the initial home position of a spin motor.

[0008] The technical objective of the present invention to solve the above-mentioned problems is to provide a micro-satellite attitude controller having a small and simple structure and configured to easily determine the initial home position of a spin motor constituting a control moment gyroscope.

[0009] To achieve the above technical objective, one embodiment of the present invention provides a micro-satellite attitude controller comprising: a casing having an external shape and an internal space formed therein; and a plurality of control moment gyro modules having a gimbal motor and a spin motor for adjusting the attitude of an artificial satellite, wherein the control moment gyro module is provided with an origin position detection unit that determines the initial origin position of the spin motor by detecting a position guide bar protruding outward from the spin motor, and the origin position detection unit is formed with a non-encoder structure so as to enable the miniaturization of the control moment gyro module.

[0010] In one embodiment of the present invention, the control moment gyro module may include: a support frame; a flywheel supported by the support frame and configured to rotate from the support frame; a spin motor coupled to the flywheel and rotating the flywheel; a gimbal motor that rotates the flywheel and the spin motor together from the support frame; and a home position detection unit coupled to the support frame and having a passing space formed through which the position guide bar passes to determine the initial home position of the spin motor.

[0011] In one embodiment of the present invention, the origin position detection unit may include: a sensor body part having a first body part and a second body part that are spaced apart at a predetermined interval to form the transit space; and an optical sensor that detects the position guide bar, wherein one of the first body part and the second body part is provided with a light-emitting part and the other body part is provided with a light-receiving part.

[0012] In one embodiment of the present invention, a plurality of control moment gyro modules are arranged at predetermined intervals centered on a virtual vertical line passing through a base substrate and form a pyramid structure, wherein the control moment gyro modules may form an inclination angle of 30 to 40° with respect to the base substrate.

[0013] In one embodiment of the present invention, the casing is provided with an observation receiving portion, and the observation receiving portion may be provided with a star tracking portion for observing the position of a predetermined star.

[0014] In one embodiment of the present invention, the apparatus further comprises an integrated operation control unit provided within the casing; and an inertial measurement unit provided within the casing; wherein the inertial measurement unit is equipped with an angular velocity sensor, an acceleration sensor, and a geomagnetic sensor, and the integrated operation control unit may be configured to control the operation of the control moment gyro module based on information provided from the inertial measurement unit and the star tracking unit.

[0015] In one embodiment of the present invention, the casing is formed as a cube, and the size of the casing may be 1U (10×10×10 cm³).

[0016] The effects of the micro-satellite attitude controller according to the present invention described above are as follows.

[0017] According to the present invention, a micro-satellite attitude controller can easily determine the initial home position of a spin motor through a home position detection unit coupled to a support frame. This home position detection unit can easily determine the initial home position of the spin motor by detecting a position guide bar protruding outward from the spin motor during the process in which the spin motor is rotated by a gimbal motor.

[0018] Unlike conventional satellite attitude controllers, this type of micro-satellite attitude controller is constructed with a non-encoder structure that eliminates the need for an encoder, thereby simplifying the device structure, enabling manufacturing in a compact size, and minimizing weight.

[0019] The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description of the invention or the claims.

[0020] FIG. 1 is a configuration diagram of a micro satellite attitude controller according to an embodiment of the present invention.

[0021] FIG. 2 is a perspective view of a micro satellite attitude controller according to an embodiment of the present invention.

[0022] FIG. 3 is an exemplary diagram schematically showing the interior of a casing according to an embodiment of the present invention.

[0023] FIG. 4 is a perspective view showing a control moment gyro module arranged in a pyramid shape according to an embodiment of the present invention.

[0024] FIG. 5 is a perspective view of a control moment gyro module according to an embodiment of the present invention.

[0025] FIG. 6 is an exemplary diagram schematically illustrating a spin motor rotated by a gimbal motor according to an embodiment of the present invention.

[0026] FIG. 7 is a partial enlarged view showing the origin position detection unit and the position guide bar according to an embodiment of the present invention.

[0027] The present invention will be described below with reference to the attached drawings. However, the present invention may be implemented in various different forms and is therefore not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification have been given similar reference numerals.

[0028] Throughout the specification, when it is stated that a part is "connected" to another part, this includes not only cases where they are "directly connected," but also cases where they are "indirectly connected" with other members interposed between them. Furthermore, when it is stated that a part "includes" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but rather allows for the inclusion of additional components.

[0029] In the present invention, "upper" and "lower" refer to being located above or below the target member, and do not necessarily mean being located above or below with respect to the direction of gravity.

[0030] Embodiments of the present invention will be described in detail below with reference to the attached drawings.

[0031] FIG. 1 is a configuration diagram of a micro satellite attitude controller according to an embodiment of the present invention, FIG. 2 is a perspective view of a micro satellite attitude controller according to an embodiment of the present invention, FIG. 3 is an exemplary diagram schematically showing the interior of a casing according to an embodiment of the present invention, FIG. 4 is a perspective view showing a control moment gyro module arranged in a pyramid shape according to an embodiment of the present invention, FIG. 5 is a perspective view of a control moment gyro module according to an embodiment of the present invention, FIG. 6 is an exemplary diagram schematically showing a spin motor rotated by a gimbal motor according to an embodiment of the present invention, and FIG. 7 is a partial enlarged view showing an origin position detection unit and a position guide bar according to an embodiment of the present invention.

[0032] As seen in FIGS. 1 to 7, a micro satellite attitude controller (1000) is provided inside a satellite (not shown) and can be used to control the attitude of the satellite.

[0033] Although this micro-satellite attitude controller (1000) is described as being equipped on a satellite, the micro-satellite attitude controller (1000) can also be equipped on various mobile bodies such as ships and aircraft.

[0034] Such a micro satellite attitude controller (1000) may include a casing (100), a control moment gyro module (200), an integrated operation control unit (300), an inertial measurement unit (400), and a star tracking unit (500).

[0035] Here, the casing (100) forms the outer shape of the micro-satellite attitude controller (1000).

[0036] An internal space (101) is formed within the casing (100), and various components including a control moment gyro module (200), an integrated operation control unit (300), an inertia measurement unit (400), and a star tracking unit (500) can be accommodated in the internal space (101).

[0037] Such a casing (100) is configured to protect various components housed within the internal space (101) from the outside.

[0038] Such a casing (100) may be formed, for example, as a cube, and the size of the casing (100) may be a micro-sized 1U (10×10×10 cm³). The shape and size of such a casing (100) are not necessarily limited to the shapes mentioned above, and may be formed in various shapes other than cubes, and may also be formed in a smaller size.

[0039] A plurality of connection terminals (110) may be provided on the outer surface of such a casing (100). For example, among the plurality of connection terminals (110), some connection terminals (110) may be connection terminals (110) for supplying power to a micro-satellite attitude controller (1000), some connection terminals (110) may be connection terminals for transmitting data with the micro-satellite attitude controller (1000), and some connection terminals (110) may be debug connection terminals (110) for detecting and removing program errors, and the number of connection terminals (110) may be provided in various numbers depending on the purpose of use.

[0040] Meanwhile, an integrated operation control unit (300) is provided within the casing (100). This integrated operation control unit (300) controls the operation of the control moment gyro module (200) to ultimately control the attitude of the satellite to a required position.

[0041] The integrated operation control unit (300) controls the operation of the control moment gyro module (200) based on information provided, for example, from the inertial measurement unit (400) and the star tracking unit (500), thereby controlling the satellite to the required attitude. The integrated operation control unit (300) may be provided, for example, on a base substrate (310).

[0042] And the inertia measuring unit (400) is provided inside the casing (100).

[0043] This inertial measurement unit (400) is for determining the attitude position of an artificial satellite, and the inertial measurement unit (400) may be equipped with, for example, an acceleration sensor, an angular velocity sensor, and a geomagnetic field sensor.

[0044] Here, the acceleration sensor can be configured to detect the satellite's state of motion by measuring dynamic forces such as acceleration, vibration, and shock. The angular velocity sensor can be configured to measure changes in the satellite's attitude. Additionally, the geomagnetic sensor can be configured to detect the satellite's heading direction through the Earth's magnetic field.

[0045] The various sensors for determining the attitude position of the satellite equipped in such an inertial measurement unit (400) are not limited to the aforementioned sensors, and various additional sensors may be equipped as long as the attitude position information of the satellite can be determined more accurately.

[0046] The measurement values ​​sensed from various sensors equipped in the inertial measurement unit (400) are provided to the integrated operation control unit (300), and the integrated operation control unit (300) controls the operation of the control moment gyro module (200) so that the attitude of the satellite can be controlled to a required position based on the measurement values ​​provided from the inertial measurement unit (400).

[0047] In addition, the star tracking unit (500) can provide attitude position information of the satellite to the integrated operation control unit (300) together with the inertial measurement unit (400).

[0048] Here, the star tracking unit (500) can be provided in the observation receiving unit (120) formed in the casing (100).

[0049] This star tracking unit (500) can observe the position of a star that can be an absolute coordinate, such as the North Star or Sirius, and provide the current attitude position information of the satellite to the integrated operation control unit (300).

[0050] In this way, the integrated operation control unit (300) controls the operation of the control moment gyro module (200) to maintain the required attitude based on information provided from the inertial measurement unit (400) and the star tracking unit (500).

[0051] Meanwhile, the control moment gyro module (200) may be provided in multiple units.

[0052] These control moment gyro modules (200) can be spaced apart at predetermined intervals along the perimeter, for example, around a virtual vertical line (V) passing through the base substrate (310).

[0053] In the present invention, a form in which there are four control moment gyro modules (200) is described as an example, but the number of control moment gyro modules (200) may be provided in various numbers other than four.

[0054] Attitude control of the satellite can be achieved through the torque generated from each of these control moment gyro modules (200). That is, the four control moment gyro modules (200) can control the attitude of the satellite by rotating the satellite to a required position, for example, with respect to the X-axis, Y-axis, and Z-axis of the satellite, by having different momentum.

[0055] In this way, the control moment gyro module (200) for controlling the satellite to the required attitude is positioned at a required angle of inclination (A) relative to the base substrate (310). That is, the four control moment gyro modules (200) form a pyramid structure.

[0056] At this time, the inclination angle (A) formed by the base substrate (310) and the control moment gyro module (200) can be 30 to 40°. More preferably, the inclination angle (A) formed by the base substrate (310) and the control moment gyro module (200) is preferably 32 to 38°, and even more preferably, the inclination angle (A) formed by the base substrate (310) and the control moment gyro module (200) is preferably 34 to 36°.

[0057] If the angle of inclination (A) between the base substrate (310) and the control moment gyro module (200) is less than 30° or exceeds 40°, for example, in the process of transmitting torque to the X-axis, Y-axis, and Z-axis through the control moment gyro module (200), a large torque is transmitted only to the X-axis and Y-axis and a weak torque is transmitted to the Z-axis, or a large torque is transmitted only to the Z-axis and a weak torque is transmitted to the X-axis and Y-axis, so the satellite cannot have a sufficient level of rotational speed in a specific axis, which may result in inaccurate attitude control. Also, if the angle of inclination (A) between the base substrate (310) and the control moment gyro module (200) exceeds 40°, the height of the control moment gyro module (200) increases, so the size of the micro-satellite attitude controller (1000) may increase.

[0058] Accordingly, it is preferable that the inclination angle (A) formed by the base substrate (310) and the control moment gyro module (200) be 30 to 40°.

[0059] Meanwhile, the control moment gyro module (200) may include a support frame (210), a flywheel (220), a spin motor (230), a gimbal motor (240), a deceleration unit (250), and an origin position detection unit (260).

[0060] Here, the support frame (210) can be fixedly installed within the casing (100) through a connecting means (211) such as a bolt.

[0061] And the spin motor (230) is coupled with the flywheel (220). This spin motor (230) is configured to provide rotational power for the rotation of the flywheel (220). In this way, the spin motor (230) that rotates the flywheel (220) may be, for example, a brushless direct current motor (BLDC motor).

[0062] The spin motor (230) and the flywheel (220) are integrally combined and configured to rotate from the support frame (210) while supported by the support frame (210). That is, when the gimbal motor (240) is operated, the spin motor (230) and the flywheel (220) rotate together from the support frame (210), and attitude control of the satellite can be achieved.

[0063] In other words, while the flywheel (220) is rotated at high speed by the spin motor (230), the gimbal motor (240) rotates the spin motor (230) and the flywheel (220) supported by the support frame (210), and generates a change in torque of the control moment gyro module (200) to control the attitude of the satellite.

[0064] This gimbal motor (240) is configured to provide rotational power for the rotation of the spin motor (230) and flywheel (220) which rotate relative to the support frame (210). Here, a reduction gear (250) is coupled to the gimbal motor (240) so that the rotation of the spin motor (230) and flywheel (220) can be precisely controlled.

[0065] And the origin position detection unit (260) is coupled to the support frame (210).

[0066] This origin position detection unit (260) is configured to determine the initial origin position of the spin motor (230). Since such an initial origin position of the spin motor (230) serves as a reference point for transmitting accurate torque to rotate the satellite to the required position with respect to the X-axis, Y-axis, and Z-axis, the initial origin position of the spin motor (230) is important.

[0067] In the present invention, the initial origin position of the spin motor (230) is determined through an origin position detection unit (260) coupled to a support frame (210) without a separate encoder configuration to determine the initial origin position of the spin motor (230). That is, the origin position detection unit (260) can easily determine the initial origin position of the spin motor (230) through a position guide bar (231) coupled to the spin motor (230). This position guide bar (231) is configured to protrude outward from the spin motor (230).

[0068] And the origin position detection unit (260) may include a sensor body unit (261) and an optical sensor (265).

[0069] Here, the sensor body part (261) has a first body part (262) and a second body part (263), wherein the first body part (262) and the second body part (263) are spaced apart at a predetermined interval and form a transit space (264) through which a position guide bar (231) can pass.

[0070] The sensor body part (261) is fixedly installed on the support frame (210).

[0071] And the optical sensor (265) may include a light-emitting part (266) and a light-receiving part (267). For example, the light-emitting part (266) may be provided in the first body part (262) and the light-receiving part (267) may be provided in the second body part (263). Alternatively, the light-emitting part (266) may be provided in the second body part (263) and the light-receiving part (267) may be provided in the first body part (262). These light-emitting part (266) and light-receiving part (267) are arranged to face each other, and the light-receiving part (267) is configured to receive light emitted from the light-emitting part (266).

[0072] In this way, when the position guide bar (231) moves to the transit space (264), the light irradiated from the light-emitting part (266) to the light-receiving part (267) is blocked by the position guide bar (231), so the origin position detection part (260) can know that the spin motor (230) is positioned at the initial origin position.

[0073] This origin position detection unit (260) can determine not only the initial origin position of the spin motor (230) but also the number of rotations of the spin motor (230) that is continuously rotated in one direction by the gimbal motor (240).

[0074] In this way, the control moment gyro module (200) can easily determine the initial origin position of the spin motor (230) through the simple structure of the origin position detection unit (260) and the position guide bar (231), and enables the miniaturization of the micro satellite attitude controller (1000).

[0075] However, this is merely a preferred embodiment of the present invention, and the scope of the rights of the present invention is not limited by the scope of description of such embodiment.

[0076] The foregoing description of the present invention is for illustrative purposes only, and those skilled in the art will understand that other specific forms can be easily modified without altering the technical spirit or essential features of the present invention. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. For example, each component described as a single unit may be implemented in a distributed manner, and components described as distributed may likewise be implemented in a combined form.

[0077] The scope of the present invention is defined by the claims set forth below, and all modifications or variations derived from the meaning and scope of the claims and equivalent concepts thereof should be interpreted as being included within the scope of the present invention.

Claims

1. A casing forming an outer shape and having an internal space formed therein; and It includes a plurality of control moment gyro modules having gimbal motors and spin motors for adjusting the attitude of an artificial satellite, provided in the internal space above; The above control moment gyro module is equipped with a home position detection unit that determines the initial home position of the spin motor by detecting a position guide bar protruding outward from the spin motor. The above-mentioned origin position sensing unit is configured with a non-encoder structure to enable the miniaturization of the above-mentioned control moment gyro module, thereby forming a micro-satellite attitude controller.

2. In Paragraph 1, The above control moment gyro module is, Support frame; A flywheel supported by the above-mentioned support frame and configured to be rotatable from the above-mentioned support frame; The spin motor coupled to the above flywheel and rotating the above flywheel; The gimbal motor that rotates the flywheel and spin motor together from the support frame; and A micro satellite attitude controller characterized by including: a home position detection unit coupled to the support frame, wherein a transit space is formed through which the position guide bar passes to determine the initial home position of the spin motor.

3. In Paragraph 2, The above origin position detection unit is, A sensor body part having a first body part and a second body part spaced apart at predetermined intervals to form the aforementioned transit space; A micro-satellite attitude controller characterized by including: an optical sensor in which a light-emitting part is provided in one of the first body part and the second body part, and a light-receiving part is provided in the other body part to detect the position guide bar.

4. In Paragraph 1, A micro satellite attitude controller characterized in that a plurality of control moment gyro modules are arranged at predetermined intervals centered on a virtual vertical line passing through a base substrate and form a pyramid structure, wherein the control moment gyro modules form an inclination angle of 30 to 40° with respect to the base substrate.

5. In Paragraph 1, A micro-satellite attitude controller characterized in that the above-mentioned casing is provided with an observation receiving section, and the above-mentioned observation receiving section is provided with a star tracking section for observing the position of a predetermined star.

6. In Paragraph 5, An integrated operation control unit provided within the above-mentioned casing; and It further includes an inertia measuring unit provided within the above casing; and A micro satellite attitude controller characterized in that the inertial measurement unit is equipped with an angular velocity sensor, an acceleration sensor, and a geomagnetic field sensor, and the integrated operation control unit is configured to control the operation of the control moment gyro module based on information provided from the inertial measurement unit and the star tracking unit.

7. In Paragraph 1, The above casing is made of a cube, but, A micro satellite attitude controller characterized by the fact that the size of the casing is 1U (10×10×10 cm³).

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