control moment gyroscope gimbal actuator study

239 Pages·2012·10.31 MB·English

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AFFDL, per ltr dtd 8 Jun 1972
THIS PAGE IS UNCLASSIFIED
AFFDL-T R-66-158
CONTROL MOMENT GYROSCOPE GIMBAL
00
ACTUATOR
STUDY
The Bendix Corporation
EclUpse-Pioneer Divisirn
Teterboro, New Jersej
TECHNICAL REPORT AFFDL-TR.66-1S8
NOVEMBER 1966
This document is subject to special export controls and each
transmittal to foreign governments or foreign nationals may
be made only with prior approval of AFFDL (FDCL), Wright-
Patterson AFB, Ohio.
Air Force Flight Dynamics Laboratory
Research and Technology Division
Air Force Systems Command
Wright-Patterson Air Force Base, Ohio
NOTICES
When Government drawings, specifications, or other data are used for any purpose
other than in connection with a definitely related Government procurement operation,
the United States Government thereby incurs no rc-sponsibility nor any obligat ion
whatsoever, and the fact that the Government may have formulated, furnisihed, or i.
any way supplied the said drawings, spec!fications, or other data, Is not to be regarded
by implication or otherwise as in any manner licensing the holder or any other person
or corporation, or conveying any rights or permission to manufacture, use, or sell
any patented invention that may in any way be related thereto.
Copies of this report should not be returned to the Research and Technology
Division unless return is required by security considerations, contractual obligations,
or notice on a specific document.
CONTROL MOMENT GYROSCOPE GIMBAL
ACTUATOR STUDY FINAL REPORT
[
I,i
The Bendix Corporation
E clipse-Pioneer D ivision
Teterboro. New Jersey
Best Available Copy
~FnRJMRD
- fii(cid:127)4-rfTt vua prepared by The Bendix Corporation,
- Jl m(cid:127)urv USAF Contract No. AF33(615VA465
a (cid:127) c(cid:127).a ~s tod on 8 August 1966o The report oovers work,
rrl mmary 1966 to September 1966.
a..sp rogram sponred by the Air Force Flight Dymazice
Laborator, Reoearh and Technology Division, has been directed
b,- Air Foroe project engineer, FDCL/t D. W. Anderton. It was
oo edt by The Bendmix Corporation throu& its Ealipse-Pioneer
Division in associatlon with the Research Laboratories Division.
KEe Berndi' pergom l who rave mariap4 the program and signi-
ficantly oontributed to its te1nwics, anooi'-lishments are the A
folowings
L. Morine i. O'Connor J. Carnazza
D. Pool R. D>Laaia M. Ritter
R. K~acrPski D. Vassalio J. Madurski
H. Varner
'This technial report has boen reviewed and is approvedo
""H. 4. RASHA -
Chief, Control Elemerts Branch
Flight Control Division
AF Flight Dynamics Laboratory
I!I
ABSTRACT
The purpx.se of this study Is the determr-ation of an optimal g;mba! i(cid:127)ctWtmor for large
double gimbal control moment gyros. The optimization study Is divided Into thr-
distinct.phases: wrquera arn tr-am-issions, which together form the actuators, and
contzollers. The DC torquer wad an epicyclic tranenmistion are selected as optimal,
on the basis of power, werAt., size, reliability and performance, Pulse width
modulation of a type de:tg,.ited as single channel if established as the aplt!mal con-
trolier.
To denonstrý,ce the application of tQ3 optimal antuator configuration, a prelimninry
design la;out was coi-pleted for mounting at one '.vot of a CMG having an &,aguiar
mome'p.nin of 1000 foot-puund.-seconds. The design inciudes all Pecessary structure
an,, a tachometer generator, weighs 23 pounds, consumes less than 45 watts at full
1orque and also fulfills oi perturmance requirements. It has a threshold rf 3% and a
reliability of 0. 9741 for one year and 0. 9953 for two months whHie in operation,
It is recommýuded that a brushless DC7 wrquer be considerel in the future for control
moment gyro gimbal actuation, when ft is better established as state-of-the-art, It
has tho advantage of very low threshold and pctpntially high reli&bility.
lit
TABLE OF CONTENTS
3ECTION PAGE
f INTRODUCTION 1
1.1 General I
1.2 Objectives I
1.3 Requirements 2
1.3. 1 A Gimbal Actuator Optimization Study 2
1. 3, 2 Controller Optimization Study 3
1.3.3 Actuator Design Study 4
1.4 General Requirements 4
1.4.1 Electrical Power 4
1.4.2 Reliability 4
1.4. 3 Environmental Requirements 5
1. 4.4 Duty Cycle 5
1i SUMMARY 0
2. 1 Purpose of Study 6
2.2 Optimization Study and Preliminary Derign 6
2. 3 Recommendations 8
ifi APPROACH 9
IV PRELfMINARY TORQUER EVALUATION 12
4. 1 Eummary 12
4.2 Evaluation Criteria 12
4.2.1 Elementary Actuator Operation 12
4.2.2 Basic Assumptions 12
4. 2. 3 Evaluation Considerations 12
4.3 Parameters of Individual Actuator Types 15
4.3.1 Electric 15
4.3.1.1 DC Torquer Motor 15
4.3.1.2 Electromechanical Dynavector Actuator 18
4.3. 1.3 Brushless DC Torquer Motors 20
4.3, 1.4 Stepping Motor 20
4.3.1.5 AC Servomotors 20
4.3.1.6 Reeponsyn Actuator 21
4. 3. 2 Hydraulic Actuators 22
4.3.2. 1 Convcntional Systems 22
4. 3. 2. 2 Dy(cid:127)navector llydraulic System 36
4.3. :.. 3 Stepping Actuators 37
4.3. 3 Pneumatic Actuntors 37
4. 3. 3. 1 Flow Requirements 37
4.3. 3.2 Pneumatic Power Supplies 40
4. ,. 4 Qualitative Actuator Comparison 42
4..4 Preliminary Conclusions 43
iv
TABLE OF CONTENTS (continued)
SECTION PAGE
V TRANSMiSSION STUDIES 45
5, 1 Hertz Stress 45
5.2 Types and Parameters 47
5.2.1 Spur Gear .47
5.2.2 Simple Planetary 50
5.2.3 Compound Planetary 56
5.2.4 External Epicyclic 63
5.2.5 Harmonic Drive 64 I
5.3 Backash 66
5, 3.1 Spur Ge;,-i 66
5.3. 2 Simple Planetary Transmisston 70
5.3.3 Czrmpound Planetary Transmission 71
5. 3. , Epicyclc "'ranswission 73
. 3, 5 Harmonic D)rive 74
5.4 Friction and Efficiency 74
5.5 Inertia 76
5.5. 1 Spur Gear 76
5. 5. 2 Simple P1anetary 77
5.5.3 Compowud Planetary 82
5.5.4 External Epicyclic 03
5.5.5 Harmonic Drive 85
5.6 Transmission Comparison 87
Vi ACTUATOR OPTIMIZ7ATION 92
6. 1 Dynamic Considerations and Analytic Transforms 92
6- 1, 1 Single Order Response 93
6. 1. 2 Second Order Response 95
6. 1. 3 Total Actuator Weight Conmparison 97
6.1.4 Speed RaWig- Co..deratlons 105
6.2 Transrtnl.ason cptimizatiot: 1 06
6.3 Torquer Selection 114
6.3, 1 Sliection Eample 114
6.3.2 Characteristlcs for Five Actuator 5bzes 118
VII ELECTRONIC CONTROLLER DECRII-ilON 122
7.1 DC Voltage PoYwer Am,diffier 122
7.2 Single Channel Pulse Width Mýodulat&'n 1,25
7.3 Diai Channel Pulse Width Moxiulation 128
7,4 ON-OFF Controller 134
7.5 Two Lvet ON-OFF Con.roller 144
7.6 Pulse Amplitude Wultilon 14
7.7 Pulse Frequency Modulption i50
7.9 Delts Modulation 156
TABLE OF CONTENTS (continued)
SECTION PAGE
Viii CONTROLLER EVALU,.TION IC?
8. 3 Power 9M Efficiency 1632
8. 1. 1 Motor Power 165
8.1.2 Bridge Power 167
8.1. 3 Efficiency 16H
8.2 Weight and Volume EstImation 169
8,3 Reliability 173
8.4 Threshold 174
IX SYSTEM OPTIMIZATION 6
9.1 Review of Actuator Assembly (iAimtzatior 176
9. 2 Controller Optimization 176
9.3 Actuator Controller iptimLizatlon 179
X CONCEPTUAL 'USIGN
1tJ0
10. 1 Description
10.2 Transmisslon [egn(cid:127)
10. 3 Trammission and Gimbal Bearing ,3
X1 CONCLUSIONS AND RECOMMEN"DATIONS
11.i Gimbal -6
11.2 Torquers
11,3 Ti. -ns mis ios
11. 4 DtXd Actuator Cortro,
11:5 Controllers 7
11. 6 RecomI --endko nb i
APkENrDt A
A. 1 Itnrdu.clon
A. 2 Generil Pequiremeuts IH9
A. 3 Toprque. Soed Requirn--r(cid:127)ex-t I
A Z.1I lixvýed
A. 3. 2 Tuirqe,
A 4
A. 4 1Rf ate filspose 4.eyi renments ¼
v. 4, 2 T(orque Reqs, ,e Requfr'rnenew
A, 5d &A D.5e fGin timti otbn .! R uo~t ti', r , ý.40
A 5.2 In.-kertia 1
'j-
A. 5. 3 Fr &cti,,n
A. 5. 4 C M G Cro7s Cojp~tri.
TABIL E (OF"C ONTENTS (continuej
APPENDIX PA GE
A 5.5 Phvsical Ste i z)t1
A.5,6 V4ight 191
A, 6 Environment 1 (cid:127)
A. 7 Mission Time and Reliability 191
A. b Expected Load Distribution 191
APPENDIX B
B. 1 bntroduction 1492
B. 2 Angular Displaeement Transducers 193
B, 2. 1 Electromagnetic Anguiar Displacement Transducers 193
B. ].I Synchro 1,93
B. 2.1,2 Resolver 193
B. 2. 1. 3 Induction Potenttometer 1 94
B. 2. 1. 4 Ind.u ctosyn 195
B. 2. 2 Resistance Potentiometer 195
B. 2, 3 Shaft Encoders 195
3 Discussion of DC and AC Ratv Sensors 195
B. 3. 1 Tachometric Angular Velocity Transducers 1 95
B. 3. 1.1 DC Rate Cene-ator 195
B. 3.1.2 AC Rate Generator 1 4t,
B. 3. 1. 3 Selection of Ovtimum Type TacLbrneter 97
Generator Sensor for C M G Application
13. 4 Gyroscoplc Angular Velocity Transducer
b. 4, 1 DeJ;criotion of a Rate Gyvroscope 0
B. 4. 2 tte .vriD Skiectton for C' M C Actu ,itoSVry tem "'"r.,
if, 5 Summary 2'
APPENDEX (.
C I Gwne raa l4
C. 2 Loading Forces
C. 3 Orbit G-oar iBrln7 2)o4
C. 4 Input Shaft Dearinps
C. 5 Output Shaft BeRrlngo 2?QJ7
PAPPFNDrX D
Relce nc-es 209
vii