Journal of Aerospace System Engineering (항공우주시스템공학회지)

The Society for Aerospace System Engineering (항공우주시스템공학회)
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Improvement of Low Speed Stability of CMG Gimbal Using Full-pitch Distributed Winding

전절권 분포형 권선을 통한 제어모멘트자이로 김블의 저속 안정성 개선 연구

  • Lee, Jun-yong (Department of Aerospace and Mechanical Engineering, Korea Aerospace University) ;
  • Lee, Hun-jo (Department of Aerospace and Mechanical Engineering, Korea Aerospace University) ;
  • Oh, Hwa-suk (Department of Aerospace and Mechanical Engineering, Korea Aerospace University) ;
  • Song, Tae-Seong (LIGNEX1 Co. Ltd) ;
  • Kang, Jeong-min (LIGNEX1 Co. Ltd) ;
  • Song, Deok-ki (LIGNEX1 Co. Ltd) ;
  • Seo, Joong-bo (Defense Industry Technology Center, Agency for Defense Development)
  • 이준용 (한국항공대학교 항공우주 및 기계공학과) ;
  • 이헌조 (한국항공대학교 항공우주 및 기계공학과) ;
  • 오화석 (한국항공대학교 항공우주 및 기계공학과) ;
  • 송태성 (LIG넥스원(주)) ;
  • 강정민 (LIG넥스원(주)) ;
  • 송덕기 (LIG넥스원(주)) ;
  • 서중보 (국방과학연구소)
  • Received : 2018.10.16
  • Accepted : 2019.06.03
  • Published : 2019.06.30
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Abstract

The electromagnetic forces generate a torque on the gimbal motor, and changes in the coil current causes torque ripple. This affects the gimbals' speed and results to unstable satellite attitude. It is therefore essential to reduce the torque ripple of the gimble motor with the aim of improving the attitude control accuracy of the satellite. This paper theoretically analyzes the torque generated from the modeling of a motor for general concentrated winding and distributed winding. The prototype was designed and fabricated through selection of the winding that reduces the torque ripple through simulation results. The results of the magnetic fields' theoretical analysis and the back electromotive force of the prototype were compared with the calibrated results for verification of conformity and manufacture of the design. The low-speed test proved that the torque ripple is reduced by improving the speed stability.

전자기적 힘에 의해 김블 모터에 토크가 발생하며 코일 전류 변화는 토크 리플을 야기한다. 이는 김블속도에 영향을 주는 동시에 위성의 자세를 불안정하게 한다. 따라서 위성의 자세 제어 정확도 향상을 위해서는 김블 모터의 토크 리플 저감이 필수적이다. 본 논문에서는 일반적인 집중형 권선과 분포형 권선에 대해 모터의 모델링으로부터 발생 토크를 이론적으로 시뮬레이션 분석하였다. 토크 리플을 저감하는 권선을 선정하여 시제품을 설계 및 제작하여 자기장 및 역기전력의 이론적 해석 결과와 측정 결과를 비교하여 설계와 제작의 합치성을 확인하였다. 저속 시험을 통해 전절권 분포형 권선의 속도 안정도가 향상되어 토크 리플이 저감됨을 입증하였다.

Keywords

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Fig. 1 Full(left) and Short(right) Pitch Winding

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Fig. 2 66% Pitch Concentrated, 33%/66%/Full Pitch Distributed Coil Winding Concept

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Fig. 3 3 Phase Signal with Winding Type

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Fig. 4 CMG Gimbal Designed Model

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Fig. 5 Magnetic Analysis of Gimbal Rotor

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Fig. 6 Average Flux Density of Analysis

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Fig. 7 Back-EMF Analysis of Winding Types

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Fig. 8 Generating Torque Analysis of Winding Types

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Fig. 9 Prototype of CMG Gimbal

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Fig. 10 Concentrated(upper) Winding Coil and Distributed(lower) Winding Coil

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Fig. 11 Flux Density Measurements & Analysis

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Fig. 12 Back-emf Measurements & Analysis of Concentrated Winding

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Fig. 13 Back-emf Measurements & Analysis of Distributed Winding

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Fig. 14 Gimbal Motor Low Speed Test

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Fig. 15 Speed Fluctuation Measurements

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Fig. 16 Speed Fluctuation with Gimbal Angle

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Fig. 17 FFT of Speed Fluctuation

Table 1 Torque Comparison of Winding Type

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Table 2 Speed Stability Comparison of Winding Type

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