CN114560106A - A 6DOF Fully Active Control Lorentz Pod - Google Patents

Abstract

The invention discloses a six-degree-of-freedom fully active control Lorentz pod, which includes a moving subsystem and a stator system. The moving subsystem includes: a nacelle body, an axial translation radial deflection magnetic bearing mover, and a spherical motor mover Components, photoelectric code disc mover grating; stator system includes: axial translation radial deflection magnetic bearing stator assembly, spherical motor stator assembly, radial support, photoelectric code disc reading head, radial spherical magnetic bearing stator assembly, shaft Axial support, axial displacement sensor, deflection displacement sensor, radial displacement sensor. Through the six-degree-of-freedom fully active control of the Lorentz pod with the displacement detection point and the magnetic bearing translation control point co-located, the error caused by the sensor and the magnetic bearing conversion matrix is eliminated, and the imaging quality of the spacecraft camera is improved. In addition, the spherical rotating motor is used to control the orientation of the pod mover, which can realize the ability to actively adjust the azimuth angle of 360°, and further improve the quality of the camera's maneuvering imaging of the ground observation.

Description

A 6DOF Fully Active Control Lorentz Pod

technical field

The invention relates to a magnetic suspension pod, in particular to a six-degree-of-freedom fully active control Lorentz pod in which a displacement detection point and a magnetic bearing translation control point are co-located.

Background technique

During the space flight, the spacecraft is affected by the vibration of various internal moving parts and the interference of the external complex space electromagnetic environment, which causes the spacecraft platform to vibrate to a certain extent, which seriously affects the working performance of the camera fixed to the spacecraft platform, resulting in blurred images. and distorted. In addition, in the process of maneuvering imaging, by controlling the moment gyro to output a large attitude control torque, the spacecraft platform is driven to do a large-angle maneuvering deflection to realize agile maneuvering imaging of the spacecraft. Due to the insufficient vibration isolation effect of the spacecraft platform and the ability to quickly stabilize after the rapid maneuvering of the attitude, the camera cannot quickly stabilize the imaging and take pictures, which affects the quality of the imaging of the sky and the ground.

In order to solve the above problems, a layer of vibration-absorbing elastic damping material is placed between the camera and the spacecraft platform, and the kinetic energy of the vibration generated by the carrier is absorbed by the material damping to achieve passive vibration isolation. When the vibration energy or amplitude exceeds the capacity of the elastic damping material, the camera will come into contact with the spacecraft platform, and the vibration will also be transmitted to the camera, affecting the imaging quality. The magnetic suspension bearing realizes the non-contact suspension support between the movable and stator, has the advantages of controllable support stiffness and damping, and can control and suppress the vibration of the spacecraft and the camera, and has been applied to the spacecraft double super platform.

Chinese patent 201710877195.1 proposes a master-slave non-contact dual hypersatellite platform with inertial orientation to the sun. The non-contact magnetic levitation mechanism and the design method of centralized control are used to realize the dynamic and static isolation of the camera load compartment and the platform compartment, and isolate the external disturbance to the camera load. interference. This solution has the advantages of high control precision, strong environmental adaptability, and stable control force and control torque output. However, its magnetic levitation platform is connected to the satellite through a locking mechanism, which only realizes the isolation of the camera load compartment and the platform compartment, and cannot realize lifting The cabin is deflected and rotated, and the imaging capability of the camera payload is insufficient.

Chinese patent 201810281513.2 proposes a magnetic levitation gimbal deflection isolation pod for satellite, which adopts the magnetic resistance-Lorentz force hybrid configuration to realize the five-degree-of-freedom active vibration control and vibration suppression of the pod mover. The coupled magnetic resistance magnetic bearing realizes the radial two-degree-of-freedom deflection, and the high-linearity Lorentz force magnetic bearing controls the axial translation of the pod mover and the radial two-degree-of-freedom high-bandwidth deflection/stable suspension. Since the suspension force of the radial spherical magnetic resistance magnetic bearing exceeds the center of the mover, and the axial suspension force of the Lorentz force magnetic bearing has nothing to do with the position of the rotor, the interference of the three translations on the deflection suspension is avoided, and the pod dynamic is improved. The suspension accuracy of the sub. In this scheme, the displacement detection point of the mover is different from the control point, and a transformation matrix is required to estimate the actual displacement at the rotor suspension force. There is a measurement error in the transformation matrix, and the error changes with time, temperature, stress and other environmental parameters, which reduces the translational suspension accuracy of the pod mover, which in turn affects the imaging quality of the pod camera load. In addition, the single-degree-of-freedom rotation of the pod mover in this scheme is uncontrolled, resulting in a free azimuth angle of the pod camera load, which further reduces the camera imaging quality.

In view of this, the present invention is proposed.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a 6-DOF fully active control Lorentz pod in which the displacement detection point and the magnetic bearing translation control point are co-located, so as to solve the above technical problems existing in the prior art.

The purpose of this invention is to realize through the following technical solutions:

The six-degree-of-freedom fully active control Lorentz pod of the present invention includes two parts: a moving subsystem and a stator system. The moving subsystem mainly includes: a nacelle body, an axial translation radial deflection magnetic bearing mover outer ring assembly, a shaft Axial translation radial deflection magnetic bearing mover inner ring assembly, spherical motor mover assembly, photoelectric code disc mover grating; The stator system mainly includes: axial translation radial deflection magnetic bearing stator assembly, spherical motor stator assembly, diameter To support, photoelectric encoder reading head, left radial spherical magnetic bearing stator assembly, right radial spherical magnetic bearing stator assembly, front radial spherical magnetic bearing stator assembly, rear radial spherical magnetic bearing stator assembly, radial spherical magnetic bearing Bearing stator assembly lock nut, axial support, axial displacement sensor, left deflection displacement sensor, right deflection displacement sensor, front deflection displacement sensor, rear deflection displacement sensor, left radial displacement sensor, right radial displacement sensor, front diameter axial displacement sensor, rear radial displacement sensor; the cabin is located at the shaft of the axial translation radial deflection magnetic bearing mover outer ring assembly, the axial translation radial deflection magnetic bearing mover inner ring assembly and the spherical motor mover assembly At the lower end, the axial translation radial deflection magnetic bearing outer ring assembly of the mover is located on the radial inner side of the groove outer wall of the cabin, and is fixed and bonded to the cabin through epoxy resin glue, and the axial translation radial deflection magnetic The bearing mover inner ring assembly is located at the radial outer side of the groove inner wall of the cabin, and is fixed and bonded to the cabin through epoxy resin glue. It is fixed and bonded in the groove on the top upper end of the cabin. The photoelectric code disc mover grating is located on the radial outer side of the outer circle of the lower end of the cabin, and is fixed and bonded to the cabin through epoxy resin glue. The radial support is located in the cabin. The radial outer side of the body and the photoelectric code disc mover grating, the photoelectric code disc reading head is located at the upper end of the bottom of the radial support, and is fixed on the radial support by screws, the left radial spherical magnetic bearing stator assembly, the right diameter The radial spherical magnetic bearing stator assembly, the front radial spherical magnetic bearing stator assembly, the rear radial spherical magnetic bearing stator assembly and the radial spherical magnetic bearing stator assembly lock nut are located on the radial inner side of the radial support, and the left radial spherical magnetic bearing The stator assembly, the right radial spherical magnetic bearing stator assembly, the front radial spherical magnetic bearing stator assembly and the rear radial spherical magnetic bearing stator assembly are orthogonally distributed, and are located on the right left and right of the inner wall slot of the radial support respectively. Right, front and rear, and fixed on the radial support through the lock nut of the radial spherical magnetic bearing stator assembly, the axial support is located at the axial upper end of the radial support, and is installed on the radial support by tightening screws. On the upper end surface of the support, the axial translation radial deflection magnetic bearing stator assembly is located at the radial outer side and the axial lower end of the axial support stop, and the axial translation radial deflection magnetic bearing stator assembly is located at the axial translation radial direction. The radially inner side of the inner spherical surface of the outer ring assembly of the mover of the deflection magnetic bearing and the radially outer side of the outer spherical surface of the inner ring assembly of the axial translation radial deflection magnetic bearing, and are installed on the axial support by tightening screws. The stator of the spherical motor The assembly is located on the inner side of the inner bore of the axial support and the axial upper end of the spherical motor mover assembly, and is installed on the axial support by tightening screws. The axial displacement sensor is located at the axis of the spherical motor stator assembly. The left deflection displacement sensor, right deflection displacement sensor, front deflection displacement sensor and rear deflection displacement sensor are located at the upper end of the outer edge of the cabin groove, and the left deflection displacement sensor, right deflection displacement sensor and The displacement sensor, the front deflection displacement sensor and the rear deflection displacement sensor are distributed orthogonally, and are installed on the right left, right, front and rear of the axial support through threaded fitting, the left radial displacement sensor, the right radial displacement sensor The displacement sensor, the front radial displacement sensor and the rear radial displacement sensor are respectively located in the left radial spherical magnetic bearing stator assembly, the right radial spherical magnetic bearing stator assembly, the front radial spherical magnetic bearing stator assembly and the rear radial spherical magnetic bearing stator. The horizontal center position of the assembly, and is fixedly installed in the left radial spherical magnetic bearing stator assembly, the right radial spherical magnetic bearing stator assembly, the front radial spherical magnetic bearing stator assembly and the rear radial spherical magnetic bearing stator assembly by threaded fitting, A certain spherical shell gap is left between the lower end face of the axial support and the upper end face of the inner edge of the cabin groove to form the upper diameter axial spherical shell protection gap. There is a certain spherical shell gap, forming a spherical motor spherical shell air gap, left radial spherical magnetic bearing stator assembly, right radial spherical magnetic bearing stator assembly, front radial spherical magnetic bearing stator assembly and rear radial spherical magnetic bearing stator assembly There is a certain spherical shell gap between the inner spherical surface and the outer edge spherical surface of the cabin to form a radial spherical magnetic bearing ball shell air gap. A certain spherical shell gap is left on the radial outer spherical surface of the inner ring assembly of the radial deflection magnetic bearing mover to form an axial translation radial deflection magnetic bearing spherical shell air gap. The outer cylindrical surface of the lower end of the cabin and the radial support A certain gap is left on the inner cylindrical surface of the bottom to form a protective gap for the lower radial spherical shell.

Compared with the prior art, the six-degree-of-freedom fully active control Lorentz pod in which the displacement detection point and the magnetic bearing translation control point are co-located has the advantages of high translation suspension accuracy, large deflection angle, and control accuracy. High, can achieve 360° active azimuth adjustment, and can be used for high-quality and fast maneuvering imaging of high-scoring earth observation satellites.

Description of drawings

1 is a schematic structural diagram of a six-degree-of-freedom fully active control Lorentz pod according to an embodiment of the present invention;

2 is a cross-sectional view of a moving subsystem according to an embodiment of the present invention;

3a is a cross-sectional view of a stator system according to an embodiment of the present invention;

3b is a schematic diagram of a three-dimensional structure of a stator system according to an embodiment of the present invention;

4a is a cross-sectional view along the radial X direction of an axial translation radial deflection Lorentz magnetic bearing according to an embodiment of the present invention;

4b is a cross-sectional view of the axial translation radial deflection Lorentz magnetic bearing according to the embodiment of the present invention along the radial Y direction;

5a is a cross-sectional view of an axial translation radial deflection magnetic bearing mover outer ring assembly and an axial translation radial deflection magnetic bearing mover inner ring assembly according to an embodiment of the present invention;

5b is a three-dimensional structural schematic diagram of an axial translation radial deflection magnetic bearing mover outer ring assembly and an axial translation radial deflection magnetic bearing mover inner ring assembly according to an embodiment of the present invention;

6 is a cross-sectional view of an axial translation radial deflection magnetic bearing stator assembly according to an embodiment of the present invention;

7 is a cross-sectional view of a spherical motor according to an embodiment of the present invention;

8 is a cross-sectional view of a spherical motor mover subassembly according to an embodiment of the present invention;

9a is a cross-sectional view of a spherical motor stator assembly according to an embodiment of the present invention;

9b is a three-dimensional schematic diagram of a spherical motor stator assembly according to an embodiment of the present invention;

10a is a cross-sectional view of the radial spherical magnetic bearing according to the embodiment of the present invention along the X-direction in the radial direction;

10b is a cross-sectional view of the radial spherical magnetic bearing according to the embodiment of the present invention along the Y direction;

11 is a cross-sectional view of an axial displacement sensor according to an embodiment of the present invention;

12 is a cross-sectional view of a deflection displacement sensor according to an embodiment of the present invention;

13 is a cross-sectional view of a radial displacement sensor according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments, which do not It does not constitute a limitation of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

First a description of terms that may be used in this article:

The term "and/or" means that either or both can be achieved, eg, X and/or Y means both the case of "X" or "Y" and the three cases of "X and Y" .

The terms "comprising", "comprising", "containing", "having" or other descriptions with similar meanings should be construed as non-exclusive inclusions. For example: including certain technical characteristic elements (such as raw materials, components, ingredients, carriers, dosage forms, materials, dimensions, parts, components, mechanisms, devices, steps, processes, methods, reaction conditions, processing conditions, parameters, algorithms, signals, data, products or products, etc.), should be construed to include not only a certain technical feature element explicitly listed, but also other technical feature elements known in the art that are not explicitly listed.

The term "consisting of" means to exclude any element of technical characteristics not expressly listed. If the term is used in a claim, the term will make the claim closed so that it does not contain technical feature elements other than those expressly listed, except for the usual impurities associated therewith. If the term appears in only one clause of a claim, it is limited only to the elements expressly recited in that clause, and elements recited in other clauses are not excluded from the claim as a whole.

Unless otherwise expressly specified or limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may 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, and it can be the internal communication of two components. For those of ordinary skill in the art, the specific meanings of the above terms in this document can be understood according to specific situations.

Terms "center", "longitudinal", "lateral", "length", "width", "thickness", "top", "bottom", "front", "back", "left", "right", " The orientation or positional relationship indicated by vertical, horizontal, top, bottom, inner, outer, clockwise, and counterclockwise is based on the orientation or positional relationship shown in the drawings. , is only for convenience and simplification of description, rather than expressing or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this text.

Contents that are not described in detail in the embodiments of the present invention belong to the prior art known to those skilled in the art. If the specific conditions are not indicated in the examples of the present invention, it is carried out according to the conventional conditions in the art or the conditions suggested by the manufacturer. The reagents or instruments used in the examples of the present invention without the manufacturer's indication are conventional products that can be purchased from the market.

The six-degree-of-freedom fully active control Lorentz pod of the present invention includes two parts: a moving subsystem and a stator system. The moving subsystem mainly includes: a nacelle body, an axial translation radial deflection magnetic bearing mover outer ring assembly, a shaft Axial translation radial deflection magnetic bearing mover inner ring assembly, spherical motor mover assembly, photoelectric code disc mover grating; The stator system mainly includes: axial translation radial deflection magnetic bearing stator assembly, spherical motor stator assembly, diameter To support, photoelectric encoder reading head, left radial spherical magnetic bearing stator assembly, right radial spherical magnetic bearing stator assembly, front radial spherical magnetic bearing stator assembly, rear radial spherical magnetic bearing stator assembly, radial spherical magnetic bearing Bearing stator assembly lock nut, axial support, axial displacement sensor, left deflection displacement sensor, right deflection displacement sensor, front deflection displacement sensor, rear deflection displacement sensor, left radial displacement sensor, right radial displacement sensor, front diameter axial displacement sensor, rear radial displacement sensor; the cabin is located at the shaft of the axial translation radial deflection magnetic bearing mover outer ring assembly, the axial translation radial deflection magnetic bearing mover inner ring assembly and the spherical motor mover assembly At the lower end, the axial translation radial deflection magnetic bearing outer ring assembly of the mover is located on the radial inner side of the groove outer wall of the cabin, and is fixed and bonded to the cabin through epoxy resin glue, and the axial translation radial deflection magnetic The bearing mover inner ring assembly is located at the radial outer side of the groove inner wall of the cabin, and is fixed and bonded to the cabin through epoxy resin glue. It is fixed and bonded in the groove on the top upper end of the cabin. The photoelectric code disc mover grating is located on the radial outer side of the outer circle of the lower end of the cabin, and is fixed and bonded to the cabin through epoxy resin glue. The radial support is located in the cabin. The radial outer side of the body and the photoelectric code disc mover grating, the photoelectric code disc reading head is located at the upper end of the bottom of the radial support, and is fixed on the radial support by screws, the left radial spherical magnetic bearing stator assembly, the right diameter The radial spherical magnetic bearing stator assembly, the front radial spherical magnetic bearing stator assembly, the rear radial spherical magnetic bearing stator assembly and the radial spherical magnetic bearing stator assembly lock nut are located on the radial inner side of the radial support, and the left radial spherical magnetic bearing The stator assembly, the right radial spherical magnetic bearing stator assembly, the front radial spherical magnetic bearing stator assembly and the rear radial spherical magnetic bearing stator assembly are orthogonally distributed, and are located on the right left and right of the inner wall slot of the radial support respectively. Right, front and rear, and fixed on the radial support through the lock nut of the radial spherical magnetic bearing stator assembly, the axial support is located at the axial upper end of the radial support, and is installed on the radial support by tightening screws. On the upper end surface of the support, the axial translation radial deflection magnetic bearing stator assembly is located at the radial outer side and the axial lower end of the axial support stop, and the axial translation radial deflection magnetic bearing stator assembly is located at the axial translation radial direction. The radially inner side of the inner spherical surface of the outer ring assembly of the mover of the deflection magnetic bearing and the radially outer side of the outer spherical surface of the inner ring assembly of the axial translation radial deflection magnetic bearing, and are installed on the axial support by tightening screws. The stator of the spherical motor The assembly is located on the inner side of the inner bore of the axial support and the axial upper end of the spherical motor mover assembly, and is installed on the axial support by tightening screws. The axial displacement sensor is located at the axis of the spherical motor stator assembly. The left deflection displacement sensor, right deflection displacement sensor, front deflection displacement sensor and rear deflection displacement sensor are located at the upper end of the outer edge of the cabin groove, and the left deflection displacement sensor, right deflection displacement sensor and The displacement sensor, the front deflection displacement sensor and the rear deflection displacement sensor are distributed orthogonally, and are installed on the right left, right, front and rear of the axial support through threaded fitting, the left radial displacement sensor, the right radial displacement sensor The displacement sensor, the front radial displacement sensor and the rear radial displacement sensor are respectively located in the left radial spherical magnetic bearing stator assembly, the right radial spherical magnetic bearing stator assembly, the front radial spherical magnetic bearing stator assembly and the rear radial spherical magnetic bearing stator. The horizontal center position of the assembly, and is fixedly installed in the left radial spherical magnetic bearing stator assembly, the right radial spherical magnetic bearing stator assembly, the front radial spherical magnetic bearing stator assembly and the rear radial spherical magnetic bearing stator assembly by threaded fitting, A certain spherical shell gap is left between the lower end face of the axial support and the upper end face of the inner edge of the cabin groove to form the upper diameter axial spherical shell protection gap. There is a certain spherical shell gap, forming a spherical motor spherical shell air gap, left radial spherical magnetic bearing stator assembly, right radial spherical magnetic bearing stator assembly, front radial spherical magnetic bearing stator assembly and rear radial spherical magnetic bearing stator assembly There is a certain spherical shell gap between the inner spherical surface and the outer edge spherical surface of the cabin to form a radial spherical magnetic bearing ball shell air gap. A certain spherical shell gap is left on the radial outer spherical surface of the inner ring assembly of the radial deflection magnetic bearing mover to form an axial translation radial deflection magnetic bearing spherical shell air gap. The outer cylindrical surface of the lower end of the cabin and the radial support A certain gap is left on the inner cylindrical surface of the bottom to form a protective gap for the lower radial spherical shell.

The axial translation radial deflection magnetic bearing is mainly composed of a mover outer ring assembly, a mover inner ring assembly and a stator assembly, wherein the mover outer ring assembly includes an outer lock nut, an outer upper magnetic steel, and an outer magnetic isolation ring. , Outer lower magnet and outer lower magnetic spacer ring, the inner ring assembly of the mover includes an inner lock nut, an inner upper magnet, an inner spacer magnetic ring, an inner lower magnet and an inner lower magnetic spacer ring, and the stator assembly includes a stator base , skeleton, upper axial suspension winding, lower axial suspension winding, left radial deflection winding, right radial deflection winding, front radial deflection winding and rear radial deflection winding.

The spherical motor is composed of a rotor part and a stator part, the rotor part includes a spherical surface on the top of the cabin and a spherical motor magnet, and the stator part includes a spherical motor seat and a spherical motor coil.

The radial spherical magnetic bearing is a pure electromagnetic spherical magnetic bearing, which is composed of a stator part and a rotor part, and the rotor part is a spherical part of the outer edge of the cabin; the stator part includes a stator sleeve, a left spherical stator core, a right spherical stator core, a front Spherical stator core, rear spherical stator core, left radial spherical magnetic bearing excitation coil, right radial spherical magnetic bearing excitation coil, front radial spherical magnetic bearing excitation coil and rear radial spherical magnetic bearing excitation coil.

In the axial translation radial deflection magnetic bearing mover, the magnetization directions of the middle and outer upper magnets, the outer lower magnets, the inner upper magnets, and the inner lower magnets are: outside N inside S, outside S inside N, Outside S inside N, outside N inside S or outside S inside N, outside N inside S, outside N inside S, outside S inside N.

The center of mass of the Lorentz pod moving subsystem and the spherical center of the outer peripheral spherical surface of the pod and the spherical center of the radially inner spherical surface of the axial translation radial deflection magnetic bearing mover outer ring assembly of the six-degree-of-freedom fully active control , The spherical center of the radially outer spherical surface of the axial translation radial deflection magnetic bearing inner ring assembly of the mover and the spherical center of the spherical surface of the upper end of the spherical motor mover assembly coincide.

The spherical center of the outer spherical surface of the outer wall of the axial translation radial deflection magnetic bearing stator assembly, the spherical center of the inner spherical surface of the inner wall of the axial translation radial deflection magnetic bearing stator assembly, the spherical center of the spherical surface of the lower end of the spherical motor stator assembly, the left The spherical center of the inner spherical surface of the radial spherical magnetic bearing stator assembly, the spherical center of the inner spherical surface of the right radial spherical magnetic bearing stator assembly, the spherical center of the inner spherical surface of the front radial spherical magnetic bearing stator assembly, and the inner side of the rear radial spherical magnetic bearing stator assembly The spherical centers of the spheres are coincident with the center of mass of a 6-DOF fully active control Lorentz pod moving subsystem.

The cabin body, spherical motor seat, left spherical stator core, right spherical stator core, front spherical stator core and rear spherical stator core are all 1J50 or 1J22 bar materials with strong magnetic permeability.

The axial displacement sensor, left deflection displacement sensor, right deflection displacement sensor, front deflection displacement sensor, rear deflection displacement sensor, left radial displacement sensor, right radial displacement sensor, front radial displacement sensor, rear radial displacement sensor The sensors are all eddy current displacement sensors.

The principle of the above scheme is:

As shown in Figure 1, when a six-degree-of-freedom fully active control Lorentz pod works, in the axial one-degree-of-freedom translation direction and the radial two-degree-of-freedom deflection direction, through an axial displacement sensor and four deflection The displacement sensor detects the axial translation displacement and radial deflection displacement of the pod, and feeds back the displacement signal to the axial translation radial deflection magnetic bearing controller, and adjusts the magnitude and direction of the axial translation coil current through the controller and radial deflection coil current size and direction to achieve axial single-degree-of-freedom translational suspension and radial two-degree-of-freedom deflection suspension; The displacement signals detected by the two probes in the positive and negative directions of the shaft are respectively subjected to differential operation, and the operation results are fed back to the radial spherical pure electromagnetic bearing controller, and the magnitude and direction of the radial translation coil current are adjusted by the controller. , to achieve radial translation with two degrees of freedom; in the axial single-degree-of-freedom rotation direction, the azimuth displacement of the orbiter is detected by the photoelectric encoder, and the azimuth displacement signal is fed back to the spherical motor controller, and the spherical motor is adjusted by the controller. The magnitude and direction of the current can realize axial single-degree-of-freedom rotation control. The 6DOF fully active control Lorentz pod is divided into two working modes: static high-definition imaging and fast maneuvering imaging. In the static high-definition imaging mode, the eddy current displacement sensor is used to sense the vibration of the spacecraft platform, and the vibration signal is fed back to the controller of the axial translation radial deflection magnetic bearing, spherical motor and radial spherical magnetic bearing. Corresponding control current is generated in the camera, and the vibration is actively controlled and suppressed to realize the static high-definition imaging of the camera load. In the fast maneuvering imaging mode, according to the maneuvering instructions of the upper computer of the spacecraft, the controller converts the pod deflection target angle position information into current information, and loads the current into the radial deflection winding of the axial translation radial deflection magnetic bearing. Drive the pod to quickly deflect to the target position, and quickly stabilize the attitude angle and azimuth angle after reaching the target position to achieve high-quality imaging of the camera payload.

From the above, it can be seen that the six-degree-of-freedom fully active control Lorentz pod in which the displacement detection point and the magnetic bearing translation control point are co-located in the embodiment of the present invention is similar to the maglev double supersatellite platform that uses a locking mechanism to maintain connection with the satellite. Compared with the pod with the five-degree-of-freedom active vibration control and vibration suppression of the mover using the magnetic resistance-Lorentz force hybrid configuration, the The magnetic bearing displacement detection point and the magnetic bearing translation control point are co-located to improve the suspension accuracy of the pod mover. At the same time, the spherical motor is used to control the rotation of the pod mover, which improves the pod orientation control capability from uncontrollable to 360° omnidirectional. Precise control further improves camera imaging quality.

In order to more clearly demonstrate the technical solutions provided by the present invention and the resulting technical effects, the following will describe in detail what is provided by the embodiments of the present invention with specific embodiments.

Example 1

As shown in Figure 1, a six-degree-of-freedom fully active control Lorentz pod includes two parts: a moving subsystem and a stator system. The moving subsystem mainly includes: a pod 1, an axial translation radial deflection magnetic bearing 2 Mover outer ring assembly, axial translation radial deflection magnetic bearing 2 mover inner ring assembly, spherical motor 3 mover assembly, photoelectric code disc mover grating 4; The stator system mainly includes: axial translation radial deflection magnetic Bearing 2 stator assembly, spherical motor 3 stator assembly, radial support 5, photoelectric encoder reading head 6, left radial spherical magnetic bearing 7A stator assembly, right radial spherical magnetic bearing 7B stator assembly, front radial spherical magnetic bearing 7C stator assembly, rear radial spherical magnetic bearing 7D stator assembly, radial spherical magnetic bearing stator assembly lock nut 8, axial support 9, axial displacement sensor 10, left deflection displacement sensor 11A, right deflection displacement sensor 11B, front Deflection displacement sensor 11C, rear deflection displacement sensor 11D, left radial displacement sensor 12A, right radial displacement sensor 12B, front radial displacement sensor 12C, rear radial displacement sensor 12D; Magnetic bearing 2 outer ring of mover assembly, axial translation radial deflection magnetic bearing 2 inner ring assembly of mover and spherical motor 3 axial lower end of mover assembly, axial translation radial deflection magnetic bearing 2 outer ring of mover The components are located on the radially inner side of the groove outer wall of the cabin body 1, and are fixed and bonded to the cabin body 1 by epoxy resin glue. The axial translation radial deflection magnetic bearing 2 The mover inner ring assembly is located in the groove of the cabin body 1 The inner wall is radially outward, and is fixed and bonded to the cabin body 1 by epoxy resin glue. The spherical motor 3 mover assembly is located at the axial upper end of the cabin body 1, and is fixed and glued to the top of the cabin body 1 by epoxy resin glue. In the groove at the upper end, the photoelectric code disc mover grating 4 is located on the radially outer side of the outer circle of the lower end of the cabin body 1, and is fixed and bonded to the cabin body 1 by epoxy resin glue. The radial support 5 is located between the cabin body 1 and the photoelectric On the radial outer side of the code disc mover grating 4, the photoelectric code disc reading head 6 is located at the upper end of the bottom of the radial support 5, and is fixedly installed on the radial support 5 by screws. The left radial spherical magnetic bearing 7A stator assembly, The right radial spherical magnetic bearing 7B stator assembly, the front radial spherical magnetic bearing 7C stator assembly, the rear radial spherical magnetic bearing 7D stator assembly and the radial spherical magnetic bearing stator assembly lock nut 8 is located on the radial inner side of the radial support 5 , the left radial spherical magnetic bearing 7A stator assembly, the right radial spherical magnetic bearing 7B stator assembly, the front radial spherical magnetic bearing 7C stator assembly and the rear radial spherical magnetic bearing 7D stator assembly are orthogonally distributed and are located in the radial support The right left, right, front and rear of the inner wall of the seat 5 are fixed on the radial support 5 through the radial spherical magnetic bearing stator assembly lock nut 8, and the axial support 9 is located in the radial support. The axial upper end of the seat 5 is installed on the upper end surface of the radial support 5 by tightening screws, and the axial translation radial deflection magnetic bearing , the axial translation radial deflection magnetic bearing 2 stator assembly is located on the radially inner side of the inner spherical surface of the axial translation radial deflection magnetic bearing 2 mover outer ring assembly and the axial translation radial deflection magnetic bearing 2 mover The outer spherical surface of the inner ring assembly is radially outside, and is installed on the axial support 9 by tightening screws. The stator assembly of spherical motor 3 is located radially inward of the inner bore of the axial support 9 and the axial upper end of the movable subassembly of spherical motor 3 , and is installed on the axial support 9 by tightening screws. The axial displacement sensor 10 is located at the axial position of the stator assembly of the spherical motor 3, and is fixedly installed on the stator assembly of the spherical motor 3 through screw fitting. The left deflection displacement sensor 11A , right deflection displacement sensor 11B, front deflection displacement sensor 11C and rear deflection displacement sensor 11D are located at the upper end of the outer edge of the groove of cabin 1, left deflection displacement sensor 11A, right deflection displacement sensor 11B, front deflection displacement sensor 11C and rear deflection displacement sensor 11D is orthogonally distributed, and is installed on the right left, right, front and rear of the axial support 9 through screw fitting. The left radial displacement sensor 12A, the right radial displacement sensor 12B, the front radial displacement sensor 12C and rear radial displacement sensor 12D are respectively located in the left radial spherical magnetic bearing 7A stator assembly, the right radial spherical magnetic bearing 7B stator assembly, the front radial spherical magnetic bearing 7C stator assembly and the rear radial spherical magnetic bearing 7D stator assembly. Horizontal center position, and fixedly installed on the left radial spherical magnetic bearing 7A stator assembly, right radial spherical magnetic bearing 7B stator assembly, front radial spherical magnetic bearing 7C stator assembly and rear radial spherical magnetic bearing 7D stator assembly by thread fit Inside, there is a certain spherical shell gap between the lower end surface of the axial support 9 and the upper end surface of the inner edge of the groove of the cabin 1, forming the upper diameter axial spherical shell protection gap 13. A certain spherical shell gap is left on the lower end of the stator assembly of motor 3, forming a spherical motor spherical shell air gap 14, left radial spherical magnetic bearing 7A stator assembly, right radial spherical magnetic bearing 7B stator assembly, front radial spherical magnetic bearing 7C Stator assembly and rear radial spherical magnetic bearing 7D There is a certain spherical shell gap between the inner spherical surface of the stator assembly and the outer spherical surface of the cabin 1, forming a radial spherical magnetic bearing spherical shell air gap 15, axial translation radial deflection magnetic bearing 2 The radial inner spherical surface of the outer ring assembly of the mover and the axial translation radial deflection magnetic bearing 2 The radial outer spherical surface of the inner ring assembly of the mover has a certain spherical shell gap, forming an axial translation radial deflection magnetic bearing ball Shell air gap 16, a certain gap is left between the outer cylindrical surface of the lower end of the cabin body 1 and the inner cylindrical surface of the bottom of the radial support 5, forming a lower radial spherical shell protection gap 17.

As shown in FIG. 2, which is a cross-sectional view of the moving subsystem according to the embodiment of the present invention, the moving subsystem mainly includes: a cabin body 1, an axial translation radial deflection magnetic bearing 2 a mover outer ring assembly, an axial translation radial deflection Magnetic bearing 2 mover inner ring assembly, spherical motor 3 mover assembly, photoelectric code disc mover grating 4, cabin 1 is located in axial translation radial deflection magnetic bearing 2 mover outer ring assembly, axial translation radial The axial lower end of the deflection magnetic bearing 2 mover inner ring assembly and the spherical motor 3 mover assembly, the axial translation radial deflection magnetic bearing 2 mover outer ring assembly is located on the radial inner side of the outer wall of the groove of the cabin 1, and passes through Epoxy resin glue is fixed on the cabin body 1, and the axial translation radial deflection magnetic bearing 2 The inner ring assembly of the mover is located on the radial outer side of the inner wall of the groove of the cabin body 1, and is fixed and glued to the cabin body 1 through epoxy resin glue. On the cabin body 1, the spherical motor 3 mover assembly is located at the axial upper end of the cabin body 1, and is fixed and bonded in the top upper end groove of the cabin body 1 by epoxy glue, and the photoelectric code disc mover grating 4 is located in the cabin body. The outer circle of the lower end of 1 is radially outward, and is fixed and bonded to the cabin body 1 by epoxy resin glue.

3a is a cross-sectional view of a stator system according to an embodiment of the present invention, and FIG. 3b is a schematic three-dimensional structural diagram of a stator system according to an embodiment of the present invention. The stator system mainly includes: axial translation radial deflection magnetic bearing 2 stator assembly, spherical motor 3 stator Components, radial support 5, photoelectric encoder reading head 6, left radial spherical magnetic bearing 7A stator assembly, right radial spherical magnetic bearing 7B stator assembly, front radial spherical magnetic bearing 7C stator assembly, rear radial spherical magnetic bearing Bearing 7D stator assembly, radial spherical magnetic bearing stator assembly lock nut 8, axial support 9, axial displacement sensor 10, left deflection displacement sensor 11A, right deflection displacement sensor 11B, front deflection displacement sensor 11C, rear deflection displacement sensor 11D, left radial displacement sensor 12A, right radial displacement sensor 12B, front radial displacement sensor 12C, rear radial displacement sensor 12D; the radial support 5 is located below the photoelectric code disc reading head 6, and the photoelectric code disc reading head 6 is located at the upper end of the bottom of the radial support 5, and is fixed on the radial support 5 by screws. The left radial spherical magnetic bearing 7A stator assembly, the right radial spherical magnetic bearing 7B stator assembly, and the front radial spherical magnetic bearing 7C stator assembly, rear radial spherical magnetic bearing 7D stator assembly and radial spherical magnetic bearing stator assembly lock nut 8 is located on the radial inner side of radial support 5, left radial spherical magnetic bearing 7A stator assembly, right radial spherical magnetic bearing The bearing 7B stator assembly, the front radial spherical magnetic bearing 7C stator assembly and the rear radial spherical magnetic bearing 7D stator assembly are orthogonally distributed, and are respectively located on the right left, right, and right of the groove on the inner wall of the radial support 5. The front and the rear are fixed on the radial support 5 through the radial spherical magnetic bearing stator assembly lock nut 8. The axial support 9 is located at the axial upper end of the radial support 5, and is installed in the radial direction by tightening screws. On the upper end surface of the support 5, the axial translation radial deflection magnetic bearing 2 stator assembly is located at the radial outer side and the axial lower end of the diameter of the axial support 9, and is installed on the axial support 9 by tightening screws. The stator assembly of the motor 3 is located on the inner side of the inner bore of the axial support 9, and is installed on the axial support 9 by tightening screws. It is fixedly installed on the stator assembly of the spherical motor 3. The left deflection displacement sensor 11A, the right deflection displacement sensor 11B, the front deflection displacement sensor 11C and the rear deflection displacement sensor 11D are orthogonally distributed, and are installed on the axial support 9 through screw fitting. Right to the left, right, right in front and right behind, the left radial displacement sensor 12A, right radial displacement sensor 12B, front radial displacement sensor 12C and rear radial displacement sensor 12D are respectively located on the left radial spherical magnetic bearing 7A stator The horizontal center position of the assembly, the right radial spherical magnetic bearing 7B stator assembly, the front radial spherical magnetic bearing 7C stator assembly, and the rear radial spherical magnetic bearing 7D stator assembly, and are fixedly installed on the left radial spherical magnetic bearing 7A through screw fitting Stator assembly, right radial spherical magnetic bearing 7B stator assembly, front radial spherical magnetic bearing 7C stator assembly and rear radial spherical magnetic bearing 7D inside the stator assembly.

FIG. 4a is a cross-sectional view of the axial translation radial deflection Lorentz magnetic bearing 2 according to the embodiment of the present invention along the radial X direction, and FIG. 4b is the axial translation radial deflection Lorentz magnetic bearing 2 according to the embodiment of the present invention. The cross-sectional view along the radial Y direction, the axial translation radial deflection Lorentz magnetic bearing 2 consists of the axial translation radial deflection magnetic bearing 2 the outer ring assembly of the mover, the axial translation radial deflection magnetic bearing 2 mover The inner ring assembly and the axial translation radial deflection magnetic bearing 2 stator assemblies are composed. The axial translation radial deflection magnetic bearing 2 mover outer ring assembly mainly includes: the outer edge of the groove of the cabin 1, the outer lock nut 201, the outer ring assembly The upper magnetic steel 202, the outer magnetic isolation ring 203, the outer lower magnetic steel 204, the outer lower magnetic isolation gasket 205; the axial translation radial deflection magnetic bearing 2 The inner ring components of the mover mainly include: the inner edge of the groove of the cabin 1 , inner lock nut 206, inner upper magnetic steel 207, inner magnetic isolation ring 208, inner lower magnetic steel 209 and inner and lower magnetic isolation gasket 210; axial translation radial deflection magnetic bearing 2 The stator components mainly include: stator base 211, Skeleton 212, upper axial suspension winding 213, lower axial suspension winding 214, left radial deflection winding 215, right radial deflection winding 216, front radial deflection winding 217 and rear radial deflection winding 218; outer lock nut 201, The outer upper magnetic steel 202, the outer magnetic isolation ring 203, the outer lower magnetic steel 204 and the outer lower magnetic isolation gasket 205 are located inside the outer wall of the groove of the cabin 1, from top to bottom, the outer lock nut 201, the outer upper magnetic steel 202, outer magnetic isolation ring 203, outer lower magnetic steel 204 and outer lower magnetic isolation gasket 205, outer lock nut 201, outer upper magnetic steel 202, outer magnetic isolation ring 203, outer lower magnetic steel 204 and outer lower magnetic isolation pad The ring 205 is fixed and bonded to the cabin body 1 by epoxy resin glue. The inner lock nut 206, the inner upper magnetic steel 207, the inner magnetic isolation ring 208, the inner lower magnetic steel 209 and the inner and lower magnetic isolation gasket 210 are located in the cabin body 1. On the outside of the inner wall of the groove, from top to bottom, the inner lock nut 206, the inner upper magnetic steel 207, the inner magnetic separation ring 208, the inner lower magnetic steel 209, the inner and lower magnetic separation gasket 210, the inner lock nut 206, the inner upper magnetic steel The magnetic steel 207, the inner magnetic isolation ring 208, the inner and lower magnetic steel 209 and the inner and lower magnetic isolation gasket 210 are fixed and bonded to the cabin body 1 by epoxy resin glue, the outer lock nut 201, the outer upper magnetic steel 202, the outer partition The radial inner spherical surface of the magnetic ring 203, the outer lower magnetic steel 204 and the outer lower magnetic isolation gasket 205 and the inner lock nut 206, the inner upper magnetic steel 207, the inner magnetic isolation ring 208, the inner lower magnetic steel 209 and the inner and lower magnetic isolation A certain spherical shell gap is left on the radial outer spherical surface of the backing ring 210 to form an axial translation radial deflection magnetic bearing spherical shell air gap 16, an upper axial suspension winding 213, a lower axial suspension winding 214, and a left radial deflection winding. 215. The right radial deflection winding 216, the front radial deflection winding 217 and the rear radial deflection winding 218 are located on both sides of the lower end of the skeleton 212, and the upper axial suspension winding 213 and the lower axial suspension winding 214 are respectively wound around the cylinder on the skeleton 211. The left radial deflection winding 214 , the right radial deflection winding 215 , the front radial deflection winding 216 and the rear radial deflection winding 217 Do not wrap around the right left boss, the right boss, the front boss and the right rear boss of the skeleton 212. The upper axial suspension winding 213 is located on the left radial deflection winding 215 and the right radial deflection winding. 216. The upper ends of the front radial deflection winding 217 and the rear radial deflection winding 218, the lower axial suspension winding 214 is located on the left radial deflection winding 215, the right radial deflection winding 216, the front radial deflection winding 217 and the rear radial deflection winding The lower end of the winding 218, the upper axial suspension winding 213, the lower axial suspension winding 214, the left radial deflection winding 215, the right radial deflection winding 216, the front radial deflection winding 217 and the rear radial deflection winding 218 pass through epoxy resin The glue is fixed on the skeleton 212. Taking the permanent magnet flux of the channel in the direction of Figure 4a+X as an example, the permanent magnet flux path is: the permanent magnet flux starts from the N pole of the upper inner magnet 207, and passes through the axial translation. The upper half of the air gap 16 of the radial deflection magnetic bearing spherical shell, the upper axial suspension winding 213 and the upper end of the left radial deflection winding 215 reach the S pole of the outer upper magnetic steel 202, and flow out from the N pole of the outer upper magnetic steel 202, It reaches the S pole of the outer lower magnetic steel 204 through the outer edge of the groove of the cabin 1, flows out from the N pole of the outer lower magnetic steel 204, and passes through the lower half of the air gap 16 of the axial translation radial deflection magnetic bearing spherical shell, the lower The lower ends of the axial suspension winding 214 and the left radial deflection winding 215 reach the S pole of the inner and lower magnetic steel 209, flow out from the N pole of the inner and lower magnetic steel 209, and return to the upper inner magnetic steel 207 through the inner edge of the groove of the cabin 1 the N pole. The magnetic circuit along the -X direction, the +Y direction, and the -Y direction is similar to that along the +X direction.

5a is a cross-sectional view of an axial translation radial deflection magnetic bearing 2 mover outer ring assembly and an axial translation radial deflection magnetic bearing 2 mover inner ring assembly according to an embodiment of the present invention, and FIG. 5b is an embodiment of the present invention. Schematic diagram of the three-dimensional structure of axial translation radial deflection magnetic bearing 2 mover outer ring assembly, axial translation radial deflection magnetic bearing 2 mover inner ring assembly, axial translation radial deflection magnetic bearing 2 mover outer ring The components mainly include: the outer edge of the groove of the cabin 1, the outer lock nut 201, the outer upper magnetic steel 202, the outer magnetic isolation ring 203, the outer lower magnetic steel 204, and the outer lower magnetic isolation gasket 205; axial translation radial deflection The inner ring assembly of the magnetic bearing 2 mover mainly includes: the inner edge of the groove of the cabin 1, the inner lock nut 206, the inner upper magnetic steel 207, the inner magnetic isolation ring 208, the inner lower magnetic steel 209 and the inner and lower magnetic isolation gasket 210; The lock nut 201, the outer upper magnetic steel 202, the outer magnetic isolation ring 203, the outer lower magnetic steel 204, and the outer lower magnetic isolation gasket 205 are located on the inner side of the outer wall of the groove of the cabin 1. From top to bottom, the outer lock nut 201, The outer upper magnetic steel 202, the outer magnetic separation ring 203, the outer lower magnetic steel 204 and the outer lower magnetic separation gasket 205, the outer lock nut 201, the outer upper magnetic steel 202, the outer magnetic separation ring 203, the outer lower magnetic steel 204 and the outer magnetic steel The lower magnetic isolation ring 205 is fixed and bonded to the cabin 1 by epoxy resin glue, the inner lock nut 206, the inner upper magnetic steel 207, the inner magnetic isolation ring 208, the inner lower magnetic steel 209 and the inner lower magnetic isolation gasket 210 Located on the outside of the inner wall of the groove of cabin 1, from top to bottom, the inner lock nut 206, the inner upper magnetic steel 207, the inner magnetic isolation ring 208, the inner lower magnetic steel 209 and the inner lower magnetic isolation gasket 210, the inner lock nut 206. The inner upper magnetic steel 207, the inner magnetic separation ring 208, the inner lower magnetic steel 209 and the inner lower magnetic separation gasket 210 are fixed and bonded to the cabin body 1 by epoxy resin glue, the outer lock nut 201, the outer upper magnetic steel 202. The radial inner spherical surface of the outer magnetic isolation ring 203, the outer lower magnetic steel 204 and the outer lower magnetic isolation gasket 205 and the inner lock nut 206, the inner upper magnetic steel 207, the inner magnetic isolation ring 208, the inner and lower magnetic steel 209 and A certain spherical shell gap is left on the radially outer spherical surface of the inner and lower magnetic isolation gasket rings 210 to form an axial translation radial deflection magnetic bearing spherical shell air gap 16 .

6 is a cross-sectional view of the stator assembly of the axial translation radial deflection magnetic bearing 2 according to the embodiment of the present invention. The axial translation radial deflection magnetic bearing 2 stator assembly mainly includes: a stator base 211, a skeleton 212, and an upper axial suspension winding 213, the lower axial suspension winding 214, the left radial deflection winding 215, the right radial deflection winding 216, the front radial deflection winding 217 and the rear radial deflection winding 218, the upper axial suspension winding 213, the lower axial suspension winding 214 , the left radial deflection winding 215, the right radial deflection winding 216, the front radial deflection winding 217 and the rear radial deflection winding 218 are located on both sides of the lower end of the skeleton 212, the upper axial suspension winding 213 and the lower axial suspension winding 214 are respectively It is wound on the radially outer side of the upper cylindrical surface and the radially outer side of the lower cylindrical surface of the skeleton 211, and the left radial deflection winding 214, the right radial deflection winding 215, the front radial deflection winding 216 and the rear radial deflection winding 217 are respectively wound on the skeleton 212. The upper axial suspension winding 213 is located on the left radial deflection winding 215, the right radial deflection winding 216, the front radial The upper ends of the deflection winding 217 and the rear radial deflection winding 218, the lower axial suspension winding 214 is located at the lower ends of the left radial deflection winding 215, the right radial deflection winding 216, the front radial deflection winding 217 and the rear radial deflection winding 218, The upper axial suspension winding 213, the lower axial suspension winding 214, the left radial deflection winding 215, the right radial deflection winding 216, the front radial deflection winding 217 and the rear radial deflection winding 218 are fixed on the skeleton 212 by epoxy resin glue superior.

7 is a cross-sectional view of a spherical motor 3 according to an embodiment of the present invention. The spherical motor 3 is composed of a spherical motor 3 mover assembly and a spherical motor 3 stator assembly. The spherical motor 3 mover assembly mainly includes: the outer edge of the top of the cabin 1 and the spherical motor Magnetic steel 301; spherical motor 3 stator components mainly include: spherical motor seat 302 and spherical motor coil 303; the outer edge of the top of cabin 1 and spherical motor magnetic steel 301 are located at the lower end of spherical motor seat 302 and spherical motor coil 303. The steel 301 is located at the radial outer side of the outer edge boss at the top of the cabin 1. The spherical motor magnetic steel 301 has a total of 30 pieces of magnetic steel, which are evenly distributed in the circumferential direction and installed in the groove on the outer edge of the cabin 1. The glue is fixed in the groove on the outer edge of the top of the cabin body 1, the spherical motor seat 302 is located on the outer edge of the top of the cabin body 1 and the upper end of the spherical motor magnetic steel 301, and the spherical motor coil 303 is wound in the groove of the lower end boss of the spherical motor seat 302 , and is bonded to the spherical motor base 302 by epoxy resin glue. The magnetization direction of the spherical motor magnetic steel 301 is that the upper spherical surface is N and the lower plane is S. A certain spherical shell gap is left on the spherical surface to form an air gap 14 in the spherical shell of the spherical motor.

8 is a cross-sectional view of the spherical motor 3 mover assembly according to the embodiment of the present invention. The spherical motor 3 mover mainly includes: the outer edge of the top of the cabin 1 and the spherical motor magnetic steel 301; the spherical motor magnetic steel 301 has a total of 30 magnetic steels, along It is evenly distributed in the circumferential direction and installed in the groove of the outer edge of the top of the cabin 1, and fixed in the groove of the outer edge of the top of the cabin 1 through epoxy resin glue. The magnetization direction of the spherical motor magnetic steel 301 is that the upper spherical surface is N. The lower plane is S.

9a is a cross-sectional view of the stator assembly of the spherical motor 3 according to the embodiment of the present invention, and FIG. 9b is a three-dimensional schematic diagram of the stator assembly of the spherical motor 3 according to the embodiment of the present invention. The stator assembly of the spherical motor 3 mainly includes: a spherical motor seat 302 and a spherical motor coil 303 ; The spherical motor coil 303 is wound in the groove of the lower end boss of the spherical motor seat 302, and is fixed on the spherical motor seat 302 through epoxy resin glue.

10a is a sectional view of the radial spherical magnetic bearing 7 according to the embodiment of the present invention along the X direction, FIG. 10b is a sectional view of the radial spherical magnetic bearing 7 according to the embodiment of the present invention along the Y direction, the radial spherical magnetic bearing 7 It is mainly composed of a stator system and a rotor system. The rotor system is the outer annular spherical surface of the cabin 1; Rear spherical stator core 702D, left radial spherical magnetic bearing excitation coil 703A, right radial spherical magnetic bearing excitation coil 703B, front radial spherical magnetic bearing excitation coil 703C and rear radial spherical magnetic bearing excitation coil 703D; The left spherical stator core 702A, the right spherical stator core 702B, the front spherical stator core 702C and the rear spherical stator core 702D are radially inside, and the stator sleeve 701 is located on the left spherical stator core 702A, the right spherical stator core 702B, and the front spherical stator core 702C and the radial outer side of the rear spherical stator core 702D, the left spherical stator core 702A, the right spherical stator core 702B, the front spherical stator core 702C and the rear spherical stator core 702D are limited by the positioning grooves on the inner side of the stator sleeve 701. The radial angular position, The left spherical stator core 702A, the right spherical stator core 702B, the front spherical stator core 702C and the rear spherical stator core 702D are fixed on the stator sleeve 701 by epoxy resin glue, the left radial spherical magnetic bearing excitation coil 703A, the right radial spherical Magnetic bearing excitation coil 703B, front radial spherical magnetic bearing excitation coil 703C and rear radial spherical magnetic bearing excitation coil 703D are respectively wound on left spherical stator core 702A, right spherical stator core 702B, front spherical stator core 702C and rear spherical stator core On the inner boss of 702D, and fixed on the left spherical stator core 702A, right spherical stator core 702B, front spherical stator core 702C and rear spherical stator core 702D through epoxy resin glue, the outer spherical surface of cabin 1 and the left spherical stator core 702A inner spherical surface, right spherical stator core 702B inner spherical surface, front spherical stator core 702C inner spherical surface and rear spherical stator core 702D inner spherical surface has a certain spherical shell gap, forming radial spherical magnetic bearing spherical shell air gap 15, left spherical stator core The iron core 702A and the right spherical stator core 702B form two magnetic poles, the front spherical stator core 702C and the rear spherical stator core 702D form two magnetic poles, the left spherical stator core 702A, the right spherical stator core 702B, the front spherical stator core 702C and the rear spherical stator The iron core 702D is composed of 4 magnetic poles on the left, right, front and rear of the magnetic bearing, which respectively form the magnetic poles in the positive and negative directions of the X and Y axes. Take the electromagnetic magnetic circuit of Figure 10a+X channel as an example: the electromagnetic flux starts from the magnetic poles of the outer ring of the left spherical stator iron core 702A, Passing through the magnetic pole of the inner ring of the left spherical stator core 702A, passing through the middle of the air gap 15 of the radial spherical magnetic bearing spherical shell, reaching the middle of the spherical surface of the outer wall of the cabin 1, from the cabin 1 Starting from the upper and lower ends of the outer spherical surface, passing through the upper and lower ends of the air gap 15 of the radial spherical magnetic bearing spherical shell, and returning to the outer magnetic pole of the left spherical stator core 702A. The -X channel, +Y channel, -Y channel electromagnetic circuit is similar to the +X channel.

11 is a cross-sectional view of an axial displacement sensor 10 according to an embodiment of the present invention. The axial displacement sensor 10 mainly includes: an axial displacement sensor coil 1001, an axial displacement sensor skeleton 1002, an axial magnetic bearing shielding wire 1003, and an axial displacement sensor shield Tube 1004; the axial displacement sensor coil 1001 is wound in the annular groove at the lower end of the axial displacement sensor skeleton 1002, and is fixed on the axial displacement sensor skeleton 1002 by epoxy resin glue, and the axial magnetic bearing shielding wire 1003 is soldered to the axial displacement sensor skeleton 1003. The displacement sensor coil 1001 is connected with the wire head, and the axial displacement sensor shielding cylinder 1004 is located radially outside the axial displacement sensor coil 1001 and the axial displacement sensor frame 1002 .

12 is a cross-sectional view of a deflection displacement sensor 11 according to an embodiment of the present invention. The deflection displacement sensor 11 mainly includes: a deflection displacement sensor coil 1101, a wire outlet 1102 and a deflection displacement sensor frame 1103; the deflection displacement sensor coil 1101 is wound around the lower end of the deflection displacement sensor frame 1103 In the annular groove, and fixed on the deflection displacement sensor frame 1103 by epoxy resin glue, the deflection displacement sensor coil 1101 is led out from the wire outlet 1102 .

13 is a cross-sectional view of a radial displacement sensor 12 according to an embodiment of the present invention. The radial displacement sensor 12 mainly includes: a radial displacement sensor coil 1201, a radial displacement sensor skeleton 1202, a radial displacement sensor shielding cylinder 1203 and a radial displacement sensor shield Line 1204; the radial displacement sensor coil 1201 is wound in the annular groove at the lower end of the radial displacement sensor skeleton 1202, and is fixed on the radial displacement sensor skeleton 1202 by epoxy glue, and the radial displacement sensor shielding wire 1204 is soldered to the radial displacement sensor skeleton 1204. The displacement sensor coil 1201 is connected with the wire head, and the radial displacement sensor shielding cylinder 1203 is located radially outside the radial displacement sensor coil 1201 and the radial displacement sensor frame 1202 .

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. Substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims. The information disclosed in this Background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Claims (9)

1. The six-degree-of-freedom full-active control Lorentz pod comprises a rotor system and a stator system, and is characterized in that the rotor system mainly comprises: the device comprises a cabin body (1), an axial translation radial deflection magnetic bearing (2), a rotor outer ring assembly, an axial translation radial deflection magnetic bearing (2), a rotor inner ring assembly, a spherical motor (3), a rotor assembly and a photoelectric coded disc rotor grating (4);

the stator system mainly includes: an axial translation radial deflection magnetic bearing (2) stator component, a spherical motor (3) stator component, a radial support (5), a photoelectric coded disc reading head (6), a left radial spherical magnetic bearing (7A) stator component, a right radial spherical magnetic bearing (7B) stator component, a front radial spherical magnetic bearing (7C) stator component, a rear radial spherical magnetic bearing (7D) stator component, a radial spherical magnetic bearing stator component locknut (8) and an axial support (9), the device comprises an axial displacement sensor (10), a left deflection displacement sensor (11A), a right deflection displacement sensor (11B), a front deflection displacement sensor (11C), a rear deflection displacement sensor (11D), a left radial displacement sensor (12A), a right radial displacement sensor (12B), a front radial displacement sensor (12C) and a rear radial displacement sensor (12D);

the cabin body (1) is positioned at the axial lower ends of a rotor outer ring assembly of the axial translation radial deflection magnetic bearing (2), a rotor inner ring assembly of the axial translation radial deflection magnetic bearing (2) and a rotor assembly of the spherical motor (3), the rotor outer ring assembly of the axial translation radial deflection magnetic bearing (2) is positioned at the radial inner side of the outer wall of a groove of the cabin body (1) and is fixedly bonded on the cabin body (1) through epoxy resin glue, the rotor inner ring assembly of the axial translation radial deflection magnetic bearing (2) is positioned at the radial outer side of the inner wall of the groove of the cabin body (1) and is fixedly bonded on the cabin body (1) through epoxy resin glue, the rotor assembly of the spherical motor (3) is positioned at the axial upper end of the cabin body (1) and is fixedly bonded in a groove at the upper end of the top of the cabin body (1) through epoxy resin glue, and the photoelectric coded disc rotor grating (4) is positioned at the radial outer side of the outer circle of the lower end of the cabin body (1), the photoelectric encoder is fixedly adhered to the cabin body (1) through epoxy resin glue, the radial support (5) is positioned at the radial outer side of the cabin body (1) and the photoelectric encoder rotor grating (4), the photoelectric encoder reading head (6) is positioned at the upper end of the bottom of the radial support (5) and is fixedly installed on the radial support (5) through screws, the left radial spherical magnetic bearing (7A) stator component, the right radial spherical magnetic bearing (7B) stator component, the front radial spherical magnetic bearing (7C) stator component, the rear radial spherical magnetic bearing (7D) stator component and the radial spherical magnetic bearing stator component locking nut (8) are positioned at the radial inner side of the radial support (5), the left radial spherical magnetic bearing (7A) stator component, the right radial spherical magnetic bearing (7B) stator component, the front radial spherical magnetic bearing (7C) stator component and the rear radial spherical magnetic bearing stator component (7D) are in orthogonal distribution, the axial support (9) is positioned at the axial upper end of the radial support (5) and is arranged on the upper end surface of the radial support (5) through a fastening screw, the axial translation radial deflection magnetic bearing (2) is positioned at the radial outer side and the axial lower end of a seam allowance of the axial support (9), the stator assembly of the axial translation radial deflection magnetic bearing (2) is positioned at the radial inner side of a spherical surface in a rotor outer ring assembly of the axial translation radial deflection magnetic bearing (2) and the radial outer side of a spherical surface in a rotor inner ring assembly of the axial translation radial deflection magnetic bearing (2) and is arranged on the axial support (9) through the fastening screw, the stator assembly of the spherical motor (3) is positioned at the inner aperture inner side of the axial support (9) and the axial upper end of the rotor assembly of the spherical motor (3), the axial displacement sensor (10) is positioned at the axis position of a stator assembly of the spherical motor (3) and fixedly installed on the stator assembly of the spherical motor (3) through thread fit, the left deflection displacement sensor (11A), the right deflection displacement sensor (11B), the front deflection displacement sensor (11C) and the rear deflection displacement sensor (11D) are positioned at the upper end of the outer edge of a groove of the cabin body (1), the left deflection displacement sensor (11A), the right deflection displacement sensor (11B), the front deflection displacement sensor (11C) and the rear deflection displacement sensor (11D) are in orthogonal distribution and are installed right left, right, front and rear of the axial support (9) through thread fit, the left radial displacement sensor (12A), the right radial displacement sensor (12B), the front radial displacement sensor (12C) and the rear radial displacement sensor (12D) are respectively positioned on the left radial spherical surface Horizontal central positions of stator components of the magnetic bearing (7A), the right radial spherical magnetic bearing (7B), the front radial spherical magnetic bearing (7C) and the rear radial spherical magnetic bearing (7D) are fixedly arranged in the horizontal central positions of the stator components of the left radial spherical magnetic bearing (7A), the right radial spherical magnetic bearing (7B), the front radial spherical magnetic bearing (7C) and the rear radial spherical magnetic bearing (7D) through thread matching, a certain spherical shell gap is reserved between the lower end surface of the axial support (9) and the upper end surface of the inner edge of the groove of the cabin body (1) to form an upper radial axial spherical shell protection gap (13), a certain spherical shell gap is reserved between the upper end spherical surface of the rotor component of the spherical motor (3) and the spherical surface of the stator component at the lower end of the spherical motor (3) to form a spherical motor spherical shell air gap (14), a certain spherical shell gap is reserved between the inner spherical surface of the stator assembly of the left radial spherical magnetic bearing (7A), the inner spherical surface of the stator assembly of the right radial spherical magnetic bearing (7B), the front radial spherical magnetic bearing (7C) and the inner spherical surface of the outer edge of the cabin body (1) to form a radial spherical magnetic bearing spherical shell air gap (15), a certain spherical shell gap is reserved between the radial inner spherical surface of the outer ring assembly of the rotor of the axial translation radial deflection magnetic bearing (2) and the radial outer spherical surface of the inner ring assembly of the rotor of the axial translation radial deflection magnetic bearing (2) to form an axial translation radial deflection magnetic bearing spherical shell air gap (16), a certain gap is reserved between the outer cylindrical surface of the lower end of the bottom of the cabin body (1) and the inner cylindrical surface of the bottom of the radial support (5), and a lower radial spherical shell protection gap (17) is formed.

2. The six degree-of-freedom fully actively controlled lorentz bird of claim 1, characterized in that: the axial translation radial deflection magnetic bearing (2) mainly comprises a rotor outer ring assembly, a rotor inner ring assembly and a stator assembly, wherein the rotor outer ring assembly comprises an outer lock nut (201), outer upper magnetic steel (202), an outer magnetic isolation ring (203), outer lower magnetic steel (204) and an outer lower magnetic isolation cushion ring (205), the rotor inner ring assembly comprises an inner lock nut (206), inner upper magnetic steel (207), an inner magnetic isolation ring (208), inner lower magnetic steel (209) and an inner lower magnetic isolation cushion ring (210), and the stator assembly comprises a stator base (211), a framework (212), an upper axial suspension winding (213), a lower axial suspension winding (214), a left radial deflection winding (215), a right radial deflection winding (216), a front radial deflection winding (217) and a rear radial deflection winding (218).

3. The six degree-of-freedom fully actively controlled lorentz bird of claim 1, characterized in that: spherical motor (3) constitute by rotor part and stator part, rotor part includes the cabin body (1) top sphere and spherical motor magnet steel (301), the stator part includes spherical motor cabinet (302) and spherical motor coil (303).

4. The six degree-of-freedom fully actively controlled lorentz bird of claim 1, characterized in that: the radial spherical magnetic bearing (7) is a pure electromagnetic spherical magnetic bearing and consists of a stator part and a rotor part, and the rotor part is a spherical part at the outer edge of the cabin body (1); the stator part comprises a stator sleeve (701), a left spherical stator core (702A), a right spherical stator core (702B), a front spherical stator core (702C), a rear spherical stator core (702D), a left radial spherical magnetic bearing exciting coil (703A), a right radial spherical magnetic bearing exciting coil (703B), a front radial spherical magnetic bearing exciting coil (703C) and a rear radial spherical magnetic bearing exciting coil (703D).

5. The six degree-of-freedom fully actively controlled lorentz bird of claim 1, characterized in that: the magnetizing directions of the outer upper magnetic steel (202), the outer lower magnetic steel (204), the inner upper magnetic steel (207) and the inner lower magnetic steel (209) in the axial translation radial deflection magnetic bearing rotor (2) are as follows in sequence: outer N inner S, outer S inner N, outer N inner S or outer S inner N, outer N inner S, outer S inner N.

6. The six degree-of-freedom fully actively controlled lorentz bird of claim 1, characterized in that: the center of mass of the six-degree-of-freedom full-active control Lorentz pod rotor system is coincided with the center of a spherical surface at the outer edge of the cabin body (1), the center of a spherical surface at the radial inner side of an outer ring component of the rotor of the axial translation radial deflection magnetic bearing (2), the center of a spherical surface at the radial outer side of an inner ring component of the rotor of the axial translation radial deflection magnetic bearing (2) and the center of a spherical surface at the upper end of a rotor component of the spherical motor (3).

7. The six degree-of-freedom fully actively controlled lorentz bird of claim 1, characterized in that: the center of the outer spherical surface of the outer wall of the stator component of the axial translation radial deflection magnetic bearing (2), the center of the inner spherical surface of the inner wall of the stator component of the axial translation radial deflection magnetic bearing (2), the center of the spherical surface of the lower end spherical surface of the stator component of the spherical motor (3), the center of the inner spherical surface of the stator component of the left radial spherical magnetic bearing (7A), the center of the inner spherical surface of the stator component of the right radial spherical magnetic bearing (7B), the center of the inner spherical surface of the stator component of the front radial spherical magnetic bearing (7C) and the center of the inner spherical surface of the stator component of the rear radial spherical magnetic bearing (7D) are coincided, and are coincided with the mass center of a six-degree-of-freedom fully-actively controlled Lorentz pod rotor system.

8. The six degree-of-freedom fully actively controlled lorentz bird of claim 1, characterized in that: the cabin body (1), the spherical motor base (302), the left spherical stator core (702A), the right spherical stator core (702B), the front spherical stator core (702C) and the rear spherical stator core (702D) are all made of 1J50 or 1J22 bar materials with strong magnetic permeability.

9. The six degree-of-freedom fully actively controlled lorentz bird of claim 1, wherein: the axial displacement sensor (10), the left deflection displacement sensor (11A), the right deflection displacement sensor (11B), the front deflection displacement sensor (11C), the rear deflection displacement sensor (11D), the left radial displacement sensor (12A), the right radial displacement sensor (12B), the front radial displacement sensor (12C) and the rear radial displacement sensor (12D) are all eddy current displacement sensors.

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