Supporting mechanism of micro gravity rotating apparatus

• US 7,126,243 B2
• Filed: 11/13/2001
• Issued: 10/24/2006
• Est. Priority Date: 11/22/2000
• Status: Expired due to Fees

• Current Assignee: Mitsubishi Heavy Industries, Ltd.
• Original Assignee: Mitsubishi Heavy Industries, Ltd.
• Inventors: Kawasaki, Shuichi
• Primary Examiner(s): Lam, Thanh
• Application Number:
  US10/169,666
• Publication Number:
  US 20020190592A1
• Time in Patent Office: 1,806 Days
• Field of Search: 310/90.5, 310/51, 310/81, 310/90
• US Class Current: 310/90.5
• CPC Class Codes: B64G 1/32 using earth's magnetic field
• CPC Class Codes: B64G 1/36 using sensors, e.g. sun-sensors, horizon sensors
• CPC Class Codes: B64G 1/38 damping of oscillations, e.g. nutation dampers
• CPC Class Codes: B64G 1/66 Arrangements or adaptations of apparatus or instruments, not otherwise provided for

Abstract

A rotator supporting mechanism in a microgravitational rotating apparatus includes a magnetic bearing of the rotator so as to effect a vibration control. Recess portions 10a, 10b are provided in a casing 10. Coils 1, 2 of the magnetic bearings 11, 12 and vibration sensors 3, 4 are arranged in the recess portions 10a, 10b being fitted to the casing 10 side. A rotary shaft 30 has its upper end inserted into the recess portion 10a and its lower end inserted into the recess portion 10b and connected to a motor 13. Both ends of the rotary shaft 30 are supported by a magnetic force. Arms 24–27, extending horizontally along X and Y axes, each have one end fitted to the rotary shaft 30 and the other end fitted with experimental boxes 20–23. Objects such as plants and animals, etc. are placed in the boxes 20–23 and, while they are rotated in space, experiments are performed. When a vibration occurs in the rotary shaft 30 due to weight imbalances between each of the boxes 20–23, the vibration is detected by the vibration sensors 3, 4 to thereby control exciting current of the coils 1, 2, so that the vibration is controlled.

Claims

1. A microgravitational rotating apparatus comprising:

a casing;

a rotator including;

a rotary shaft within said casing;

a plurality of arms, each of said arms extending in a radial direction of said rotary shaft and having a first end fitted to a circumferential periphery of said rotary shaft; and

a plurality of boxes, each of said boxes being fitted to a second end of a respective one of said arms, each of said boxes holding a gravitational or gravity-adding object;

a motor for rotationally driving said rotary shaft; and

a rotator supporting mechanism comprising;

a bearing supporting at least one end of said rotary shaft so as to maintain said rotary shaft at a position by a position-holding force provided by said bearing; and

a control unit operable to control the position-holding force of said bearing to thereby control vibration of said rotary shaft so as to generate no reaction force.

2. The microgravitational rotating apparatus of claim 1, wherein said bearing is a magnetic bearing including a coil fitted to a side of said casing so as to be arranged adjacent to said rotary shaft, said rotator supporting mechanism further comprising:

a plurality of vibration sensors fitted to said side of said casing, said plurality of vibration sensors being arranged adjacent to said coil and said rotary shaft, wherein said control unit is operable to receive displacement signals sent from said plurality of vibration sensors to thereby detect vibrations, and to control an exciting current supplied to said coil to control vibration of said rotary shaft.

3. The microgravitational rotating apparatus of claim 2, wherein said vibration sensors are fitted to both a side of said casing and said rotary shaft.

4. The microgravitational rotating apparatus of claim 2, wherein said rotator supporting mechanism further comprises:

a distance sensor fitted to said side of said casing, wherein said control unit is operable to measure a distance between said rotary shaft and said distance sensor to actively control vibration of said rotary shaft.

5. The microgravitational rotating apparatus of claim 4, wherein said rotator supporting mechanism further comprises:

an optical sensor or a laser displacement gauge fitted to said side of said casing, wherein said control unit, based on signals from any of said distance sensor, said optical sensor and said laser displacement gauge, is operable to measure the distance to said rotary shaft or the displacement of said rotary shaft to detect a vibration of said rotary shaft, is operable to compare a spectrum of the detected vibration with a predetermined spectrum demand value, and is further operable to control the current supplied to said coil to suppress the vibration of said rotary shaft below said spectrum demand value.

6. The microgravitational rotating apparatus of claim 2, wherein said rotator supporting mechanism further comprises:

an optical sensor or a laser displacement gauge fitted to said side of said casing, wherein said control unit is operable to measure a distance between said rotary shaft and said optical sensor or said laser displacement gauge and is further operable to control the current supplied to said coil to actively control vibration of said rotary shaft.

7. The microgravitational rotating apparatus of claim 2, wherein said control unit is operable to detect a vibration of said rotary shaft by receiving displacement signals from said plurality of vibration sensors, is operable to compare the vibration with a predetermined vibration demand value, and is further operable to control the current supplied to said coil in order to suppress the vibration below said vibration demand value.

8. The microgravitational rotating apparatus of claim 2, wherein if said control unit detects vibration characteristics that exceed a demand value, said control unit is operable to control vibration of said rotary shaft so that the vibration is suppressed below said demand value corresponding to a vibration range that exceeds said demand value.

9. The microgravitational rotating apparatus of claim 2, wherein if said control unit detects vibration characteristics that exceed a demand value, said control unit is operable to control vibration of said rotary shaft so that the vibration is suppressed below said demand value corresponding to a vibration range that exceeds said demand value and is operable to simultaneously store data containing the vibration characteristics that exceed said demand value to incorporate the stored data into a control law that enables subsequent active vibration controls.

10. The microgravitational rotating apparatus of claim 2, wherein if said control unit detects vibration characteristics that exceed a demand value, said control unit is operable to control vibration of said rotary shaft so that the vibration is suppressed below said demand value corresponding to a vibration range that exceeds said demand value and is operable to simultaneously compare data containing the vibration characteristics that exceed said demand value with previously stored vibration data to determine a cause of the vibration.

11. The microgravitational rotating apparatus of claim 2, wherein if said control unit detects vibration characteristics that exceed a demand value, said control unit is operable to control vibration of said rotary shaft so that the vibration is suppressed below said demand value corresponding to a vibration range that exceeds said demand value and is operable to simultaneously compare data containing the vibration characteristics that exceed said demand value with previously stored vibration data to determine a cause of the vibration and incorporate the cause into a control law stored in said control unit.

12. The microgravitational rotating apparatus of claim 2, wherein said magnetic bearing supports both ends of said rotary shaft, said magnetic bearing comprising:

a vibration control magnetic bearing; and

a bias control magnetic bearing operable to provide a position-holding force on said rotary shaft.

13. The microgravitational rotating apparatus of claim 12, wherein said vibration control magnetic bearing is operable to effect vibration control of said rotary shaft, and said bias control magnetic bearing is operable to effect position control and position holding of said rotary shaft so as to weaken the position-holding force while said vibration control magnetic bearing is effecting the vibration control.

14. The microgravitational rotating apparatus of claim 2, wherein said magnetic bearing supports both ends of said rotary shaft, said magnetic bearing comprising:

a first vibration control magnetic bearing;

a second vibration control magnetic bearing; and

a bias control magnetic bearing arranged between said first and second vibration control magnetic bearings.

15. The microgravitational rotating apparatus of claim 2, wherein said magnetic bearing supports both ends of said rotary shaft, said magnetic bearing comprising:

a vibration control magnetic bearing;

two bias control magnetic bearings, said vibration control magnetic bearing being arranged between said two bias control magnetic bearings.

16. The microgravitational rotating apparatus of claim 2, wherein said magnetic bearing supports both ends of said rotary shaft, said rotator supporting mechanism further comprising:

an elastic support mechanism arranged on an outer circumferential side of said magnetic bearing for supporting said magnetic bearing at said side of said casing, a shaft supporting force of said elastic support mechanism being less than a shaft supporting force of said magnetic bearing.

17. The microgravitational rotating apparatus of claim 16, wherein said elastic support mechanism comprises:

a main body holding said magnetic bearing for supporting said rotary shaft; and

a plurality of springs connecting an outer circumferential surface of said main body and said side of said casing.

18. The microgravitational rotating apparatus of claim 16, wherein said elastic support mechanism comprises:

a main body holding said magnetic bearing for supporting said rotary shaft; and

an elastic member connecting an outer circumferential surface of said main body and said side of said casing, said elastic member being formed of an elastic material.

19. The microgravitational rotating apparatus of claim 1, wherein said bearing supports both ends of said rotary shaft and includes a vibration control coil arranged around said rotary shaft such that a gap of a predetermined size is maintained between said rotary shaft and said vibration control coil, said rotator support mechanism further comprising:

a plurality of vibration sensors fitted to a side of said casing adjacent to said vibration control coil and being equally spaced around said rotary shaft so that a gap of a predetermined size is maintained between said rotary shaft and said plurality of vibration sensors, wherein said control unit is operable to receive displacement signals sent from said plurality of vibration sensors, and if said displacement signals exceed a predetermined value, said control unit is operable to control an exciting current supplied to said vibration control coil by sending out signals of which amplitude is changed by combining a linear signal and a non-linear signal corresponding to sizes of said displacement signals in order to effect an active vibration control of said rotary shaft.

20. The microgravitational rotating apparatus of claim 19, wherein said bearing is a magnetic bearing including said vibration control coil.

21. The microgravitational rotating apparatus of claim 20, wherein said magnetic bearing includes coil portions divided corresponding to a number and a position of said plurality of vibration sensors, and wherein said control unit is operable to control the current supplied to each of said coil portions corresponding to a location of each of said vibration sensors determined by said control unit to be generating the largest displacement signal.

22. The microgravitational rotating apparatus of claim 19, wherein said vibration control coil includes coil portions divided corresponding to a number and a position of said plurality of vibration sensors, and wherein said control unit is operable to control the current supplied to each of said coil portions corresponding to a location of each of said vibration sensors determined by said control unit to be generating the largest displacement signal.

23. The microgravitational rotating apparatus of claim 22, wherein said control unit is operable to measure time-wise changes of the displacement signals sent from said plurality of vibration sensors, operable to compute a change rate and an inclination of the changes of the respective time-wise changes and, based on the results, is operable to control the current supplied to said magnetic bearing so as to effect the vibration control of said rotary shaft.

24. The microgravitational rotating apparatus of claim 1, wherein said bearing is a magnetic bearing including a coil fitted to a side of said casing so as to be arranged adjacent to said rotary shaft, said rotator supporting mechanism further comprising:

a plurality of vibration sensors fitted to said rotary shaft, said plurality of vibration sensors being arranged adjacent to said coil, wherein said control unit is operable to receive displacement signals sent from said plurality of vibration sensors to thereby detect vibrations, and to control an exciting current supplied to said coil to control vibration of said rotary shaft.

25. The microgravitational rotating apparatus of claim 1, wherein said bearing is a magnetic bearing including a coil fitted to a side of said casing so as to be arranged adjacent to said rotary shaft, said rotator supporting mechanism further comprising:

a distance sensor fitted to said side of said casing, wherein said control unit is operable to measure a distance between said rotary shaft and said distance sensor to actively control vibration of said rotary shaft.