单框架控制力矩陀螺受力特性分析

Analysis of Force Characteristics of Single Frame Control Moment Gyroscope

单框架控制力矩陀螺因其优异的姿态控制性能被用于两轮平衡车的姿态控制,由于控制力矩陀螺长时间工作于转子高转速、框架高动态环境下,其结构容易发生破坏,导致装置失效。为了确定控制力矩陀螺结构薄弱点及其受力规律,确保转子系统可靠运行,利用ABAQUS有限元分析软件,分别建立了某车载单框架控制力矩陀螺转子和整体有限元模型,分析不同目标参数下其稳态特性和动态特性。结果表明,转子系统的薄弱部位在转子轴根部和框架轴轴承安装处,转子轴和框架轴薄弱处所受应力会随转速增大而增大,当达到7 000 r/min时会有超过许可应力值的危险;随着框架转动,转子轴主应力先增加,随后保持不变,框架轴主应力随框架转角的增加而增加,当达到4 rad/s时,框架轴和转子轴均接近许可应力,有断裂风险。最后,基于分析结果及车载控制力矩陀螺的性能要求,给出转子转速和框架转速安全运行范围,为后续控制力矩陀螺自适应控制的实现提供参考。

The single-frame control moment gyroscope is used for the attitude control of the two-wheel balance car due to its excellent attitude control performance.Because the control moment gyroscope works for a long time under the environment of high rotor speed and high dynamic frame,its structure is prone to damage,leading to device failure.In order to determine the structural weakness of the control moment gyroscope and its force law,and ensure the reliable operation of the rotor system,a vehicle-mounted single-frame control moment gyroscope rotor body and the overall finite element model is established by ABAQUS finite element analysis software,and the steady-state and dynamic characteristics of the frame control moment gyroscope under the different target parameters are analyzed.The results show that the weak part of the rotor system is at the root of the rotor shaft and the mounting location of the frame shaft bearing.The stress on the weak part of the rotor shaft and frame shaft will increase with the increase of speed.When it reaches 7000 r/min,there will be more than the allowable stress as the frame rotates.The principal stress of the rotor shaft increases first,and then remains unchanged.The principal stress of the frame shaft increases with the increase of the frame rotation angle.When it reaches 4rad/s,both the frame shaft and the rotor shaft are close to the allowable stress and there is a risk of breakage.Finally,based on the analysis results and the performance requirements of the on-board control moment gyro,the safe operating range of the rotor speed and frame speed is given,which provides a reference for the subsequent adaptive control of the control moment gyro.