JPS5893699A - Turning gear for apparatus loaded to missile - Google Patents
Turning gear for apparatus loaded to missileInfo
- Publication number
- JPS5893699A JPS5893699A JP56190185A JP19018581A JPS5893699A JP S5893699 A JPS5893699 A JP S5893699A JP 56190185 A JP56190185 A JP 56190185A JP 19018581 A JP19018581 A JP 19018581A JP S5893699 A JPS5893699 A JP S5893699A
- Authority
- JP
- Japan
- Prior art keywords
- motor
- compensation
- rotation
- rotated
- rotating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Gear Transmission (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
この発明は人工衛星等の飛しよう体に搭載され、了゛ン
テナ、太陽電池パドルあるｖ１１観測機器等の被回転体
を、指向、追尾あるいは走査の・目的で所定の方向に回
転させる。モータを利用した回転装置の改良に関するも
のである。[Detailed Description of the Invention] This invention is mounted on a flying body such as an artificial satellite, and rotates a rotating body such as a V11 observation device with an antenna, a solar array paddle, etc., for a predetermined purpose of pointing, tracking, or scanning. direction. This invention relates to improvement of a rotating device using a motor.
従来のとの種装置では、被回転体をモータの回転軸に取
シ付け、モータに必！！な駆動信号を与えてモータを回
転させ、被回転体を必要な方向一回転あるいはヵロ減速
させていた。In conventional equipment, the rotating object is attached to the rotating shaft of the motor, and the rotating object is attached to the rotating shaft of the motor. ! A drive signal was given to rotate the motor, and the rotated object was rotated in the required direction or slowed down by Calo.
しかしながら、従来のこの種装置では、モータの加減速
に伴い人工衛星等の飛しよう体に反作用トルクが加わシ
、飛しよう体の姿勢に対して外乱となシ、飛しよう体の
姿勢制御をさまたげていた。また、被回転体およびモー
タの回転に伴い、飛しよう体内部に角運動量を生じ、飛
しよう体の姿勢制御を行うのに困難を生じていた。However, in conventional devices of this type, reaction torque is applied to the flying body such as an artificial satellite as the motor accelerates and decelerated, causing disturbance to the flying body's attitude and hindering the attitude control of the flying body. was. Further, as the rotated body and the motor rotate, angular momentum is generated inside the flying body, making it difficult to control the attitude of the flying body.
この発明は従来の装置の持っていたこれらの欠点をなく
シ、簡単な方法でモータの発生する飛しよう体への外乱
トルク及び被回転体とモータの回転によ多発生する角運
動量を補償する補償機器を供えた回転装置を提供するも
のである。This invention eliminates these drawbacks of conventional devices and compensates for the disturbance torque generated by the motor on the flying body and the angular momentum often generated due to the rotation of the rotated body and the motor. A rotating device with a compensation device is provided.
以下図面を用いて、この発明の一実施例について説明す
る。第１図はこの発明の一実施例の構成図であり、第１
図において、（１）は人工衛星等の飛しよう体、＋２１
ｉｆ飛しよう体（１１に対し任意の回転方向九回転する
アンテナ等の被回転体。An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of one embodiment of the present invention, and the first
In the figure, (1) is a flying object such as an artificial satellite, +21
If flying body (rotated body such as an antenna that rotates nine times in any rotational direction relative to 11).
（３１ハ被回転体の回転用モータ、（４１ａ補償用イナ
ーシヤ、（５３ｔｆ補償用イナーシヤ（４１の回転用モ
ータ、（６１は電子回路である。第１図において、被回
転体（２１はその用途に応じて電子回路（６）からの駆
動信号によりモータ（かが′駆動され回転あるいは加減
速される。またその時同時に飛しよう体（１１Ｋ ｉｊ
モータ（３１の加減速に伴い反作用トルクが加わシ、ま
た被回転体（２１０回転に伴い角運動量が生じる。−万
、被回転体の回転軸と平行な回転軸を持つ補償用イナー
シャ（４１Ｆｉ、電子回路（６１による被回転体の角運
動量及びモータ（３１による反作用トルクを打消す駆動
信号により、モータ（５）が駆動されるため、被回転体
と逆方向に回転あるいは加減速が行われる。したがって
被回転体（２１と補償用イナーシャ（４１が同時に逆方
向に回転するため、飛しよう体への角運動量および外乱
□トルクの発生はおさえられる。(31c motor for rotation of the rotated body, (41a compensation inertia, (53tf compensation inertia (41 rotation motor, (61 is an electronic circuit). According to the drive signal from the electronic circuit (6), the motor is driven to rotate or accelerate or decelerate.At the same time, the flying object (11K ij
A reaction torque is applied as the motor (31) accelerates and decelerates, and angular momentum is generated as the rotated body (210) rotates. Since the motor (5) is driven by a drive signal that cancels the angular momentum of the rotated body by the electronic circuit (61) and the reaction torque by the motor (31), rotation or acceleration/deceleration is performed in the opposite direction to the rotated body. Therefore, since the rotated body (21) and the compensation inertia (41) simultaneously rotate in opposite directions, the generation of angular momentum and disturbance □torque to the flying body can be suppressed.
第２図は第１図に示したこの発明の一実施例の構成をさ
らに詳しく示すブロック図であり。FIG. 2 is a block diagram showing in more detail the configuration of one embodiment of the invention shown in FIG. 1.
第２図において、（７）は被回転体（２１を用途に応じ
て回転させるための信号を発生する指令回路。In FIG. 2, (7) is a command circuit that generates a signal to rotate the rotated body (21) according to the purpose.
（８１ｉｊ指令信号に応じてモータ（３）を駆動するた
めの駆動回路、（９１け被回転体（２１により発生する
角運動量およびモータ（３１により発修する反作用トル
クを補償するために、補償用イナーシャ（４）およびモ
ータ（５）を回転させるため９制御回路、・Ｑは制御回
路（９）からの信号に応じて補償用モータ（５）を駆動
するための駆動回路である・第２図において制御回路（
９）は。(81ij A drive circuit for driving the motor (3) according to the command signal, (91) A compensation circuit for compensating for the angular momentum generated by the rotated body (21) and the reaction torque developed by the motor (31). 9 control circuit for rotating the inertia (4) and the motor (5), Q is a drive circuit for driving the compensation motor (5) according to the signal from the control circuit (9), Fig. 2 In the control circuit (
9) Ha.
ＴＩ −）−７２＝ Ｏ・・・（１１工ＩＷ１＋工
２Ｗ２ ＝ ０ ・−・（２）なる関係が成立す
る様に、補償用モータ（５）および補償用イナーシャ（
４）が回転する駆動信号を駆−動回路ａｌが発生する様
な制御信号を出力する。TI -) -72 = O... (11 IW1 + IW2 W2 = 0 - (2) The compensation motor (5) and the compensation inertia (
4) Outputs a control signal such that the drive circuit al generates a drive signal for rotation.
但し、第（り式および第（２１式において、Ｔｒｉモー
タ（３１の発生するトルク、Ｔ２ｔｆ補償用モータ（５
）が発生するトルク、Ｉｔｓ、 被回転体（２）の慣
性モーメン）、Ｗ１＃１回転体（２１及びモータ（３１
０回転数、工２は補償用イナーシャ（４１の慣性モーメ
ント、Ｗ２ｈ補償用イナーシャ（４１および補償用モー
タ（５１の回転数である。すなわち、この発Ｂ）４によ
る回転装置によれは、被回転体（２１の回転に必要なト
ルクＴ１Ｆｓ、補償用モータ（３１の発生するトルク７
２ Ｋよシ常に打消され、被回転体（２１の回転に伴い
発生する角運動ｌ１１Ｗ１け。However, in the formula (2) and the formula (21), the torque generated by the Tri motor (31), the torque generated by the T2tf compensation motor (5
), its moment of inertia of the rotated body (2)), W1 #1 rotating body (21 and motor (31)
0 rotation speed, W2h is the moment of inertia of compensation inertia (41), W2h is the compensation inertia (41) and the rotation speed of compensation motor (51, i.e., this output B). The torque T1Fs required for the rotation of the body (21), the torque T1Fs generated by the compensation motor (31)
2K is always canceled by the angular movement l11W1 generated with the rotation of the rotated body (21).
補償用イナーシャ（５）の回転によ多発生する角運動ｌ
１２Ｗ２［よシ常に打消書れる。従って飛しよう体自体
には、被回転体（２１の回転による外乱の影響を全く与
えずに被回転体（２１が必要とする回転を行わせる◆が
でき、飛しよう体の姿勢制°御を容易に行わせる事がで
きる。The angular motion l that occurs frequently due to the rotation of the compensation inertia (5)
12W2 [You can always cancel. Therefore, the flying body itself can perform the rotation required by the rotated body (21) without being affected by any disturbance caused by the rotation of the rotated body (21), and the attitude control of the flying body can be performed. It can be done easily.
以上述べたように、この発ＢＡＫよる回転装置は１人工
衛星等の飛しよう体の姿勢制御に外乱を与えることなく
、アンテナ、太陽電池パドルあるいは観測機器等の被回
転体の回転が行えるものである。As mentioned above, this rotating device using the originating BAK can rotate objects to be rotated, such as antennas, solar array paddles, or observation equipment, without causing any disturbance to the attitude control of flying objects such as artificial satellites. be.
第１図はこの発明による回転装置の一実施例の構成図゛
、第２図はこの発明による回転装置の一実施例のブロッ
ク図である。図中、（ＩＨｊ人工衛星等の飛しよう体、
（２Ｉは被回転体、（３）はモータ、（４１４’ｊ補償
用イナーシヤ、Ｔ５ｉｉｄ補償用モータ。
（６）け電子回路、（７）は指令回路、（８）は駆動回
路。
（９）は制御回路、 ０１は補償用駆動回路である。
なお図中、同一あるいは相当部分には同一符号を付して
示しである。
代理人 葛 野 信 −FIG. 1 is a block diagram of an embodiment of a rotating device according to the present invention, and FIG. 2 is a block diagram of an embodiment of the rotating device according to the present invention. In the figure, (flying objects such as IHj artificial satellites,
(2I is the rotated object, (3) is the motor, (414'j compensation inertia, T5iid compensation motor. (6) is the electronic circuit, (7) is the command circuit, (8) is the drive circuit. (9) 01 is a control circuit, and 01 is a compensation drive circuit. In the drawings, the same or equivalent parts are indicated by the same reference numerals. Agent Shin Kuzuno -
Claims (1)
るいは観測機器等の被回転体を追尾。 指向あるいけ走査の目、的で回転させる回転装置におい
て、上記被回転体を回転軸まわシに回転させる回転機器
と、°被回転体の回転軸と平行な回転軸を持ち、被回転
体の回転方向と逆方向に回転する。補償用イナーシャを
有する補償回転機器とを備え、上記補償回転機器によっ
て、被回転体を回転させる回転装置の発生する角運動量
及び外乱トルクを打消して飛しよう体に対する角運動量
の蓄積を防ぎかつ外乱トルクを与えないように構成した
ことを特徴とする飛しよう体の搭載機器回転装置。[Claims] Tracks a rotating object such as an antenna mounted on a flying object, a solar array paddle, or an observation device. A rotating device that rotates with an eye or target for directional scanning includes a rotating device that rotates the object to be rotated around a rotation axis, and a rotation axis that is parallel to the axis of rotation of the object to be rotated; Rotates in the opposite direction. and a compensation rotation device having compensation inertia, the compensation rotation device cancels the angular momentum and disturbance torque generated by the rotation device that rotates the rotated object, thereby preventing the accumulation of angular momentum on the flying object and preventing the disturbance. A device for rotating equipment mounted on a flying object, characterized in that it is configured so as not to apply torque.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56190185A JPS5893699A (en) | 1981-11-27 | 1981-11-27 | Turning gear for apparatus loaded to missile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56190185A JPS5893699A (en) | 1981-11-27 | 1981-11-27 | Turning gear for apparatus loaded to missile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS5893699A true JPS5893699A (en) | 1983-06-03 |
Family
ID=16253860
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56190185A Pending JPS5893699A (en) | 1981-11-27 | 1981-11-27 | Turning gear for apparatus loaded to missile |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5893699A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61247918A (en) * | 1985-04-26 | 1986-11-05 | Hochiki Corp | Output correcting device for analog sensor |
| JPS632800A (en) * | 1986-06-23 | 1988-01-07 | 三菱電機株式会社 | Satellite attitude and antenna pointing control device |
| JPS63500931A (en) * | 1985-09-30 | 1988-04-07 | スペイス・システムズ・ローラル・インコーポレイテッド | Pointing compensation system for spacecraft equipment |
-
1981
- 1981-11-27 JP JP56190185A patent/JPS5893699A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61247918A (en) * | 1985-04-26 | 1986-11-05 | Hochiki Corp | Output correcting device for analog sensor |
| JPS63500931A (en) * | 1985-09-30 | 1988-04-07 | スペイス・システムズ・ローラル・インコーポレイテッド | Pointing compensation system for spacecraft equipment |
| JPS632800A (en) * | 1986-06-23 | 1988-01-07 | 三菱電機株式会社 | Satellite attitude and antenna pointing control device |
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