ALBERT

Description: Slewing of large payloads will require control torque and angular momentum storage capacities that are large in comparison to the capabilities of available control moment gyros (CMG's). SatCon Technology Corporation is currently designing a CMG which may be employed as a slew actuator for large spacecraft or other payloads. The slew actuator employs a type of magnetic bearing which may be used in high load applications. The magnetic bearing is also used to fully gimbal the suspended rotor of the slew actuator. The use of magnetic bearings in angular momentum exchange actuators has the primary advantage that physical contact between the rotor and stator is eliminated. This leads to greatly extended life, increased reliability, and reduced vibrations. Several actuators operating on magnetic bearings have been demonstrated in previous research efforts. These were sized for use in small satellites. For conventional magnetic bearings, which employ magnetic cores, high torsional loading may require that the magnetic structure be excessively massive. An alternative magnetic bearing design which employs a superconducting coil and eliminates conventional magnetic structures is discussed. The baseline approach is to replace the field coil of a conventional magnetic bearing with the superconducting coil.

Description: SatCon Technology Corporation is working toward the development of an advanced-concept Control Moment Gyro (CMG). The advanced-concept CMG is sized for use as a slewing actuator for large space-based payloads. The design features a magnetically suspended composite rotor which contains a persistent-mode superconducting solenoid magnet. The rotor is suspended and gimballed by the interaction of the fields produced by the superconductor and an array of cryoresistive coils. The rotor spins in a liquid helium environment, while the control coils are liquid-hydrogen cooled. This design is capable of meeting the requirements of many high-performance slewing applications (27,000 Nm). The use of the magnetic suspension as rotor bearings, gimbal bearings, and gimbal torquers also substantially reduces the mass of the CMG system.

Description: Magnetic bearings have traditionally been considered for use in aerospace applications only where performance advantages have been the primary, if not only, consideration. Conventional wisdom has been that magnetic bearings have certain performance advantages which must be traded off against increased weight, volume, electric power consumption, and system complexity. These perceptions have hampered the use of magnetic bearings in many aerospace applications because weight, volume, and power are almost always primary considerations. This paper will review progress on several active aerospace magnetic bearings programs at SatCon Technology Corporation. The magnetic bearing programs at SatCon cover a broad spectrum of applications including: a magnetically-suspended spacecraft integrated power and attitude control system (IPACS), a magnetically-suspended momentum wheel, magnetic bearings for the gas generator rotor of a turboshaft engine, a vibration-attenuating magnetic bearing system for an airborne telescope, and magnetic bearings for the compressor of a space-rated heat pump system. The emphasis of these programs is to develop magnetic bearing technologies to the point where magnetic bearings can be truly useful, reliable, and well tested components for the aerospace community.

Description: The component technologies were developed required for an advanced control moment gyro (CMG) type of slewing actuator for large payloads. The key component of the CMG is a large-angle magnetic suspension (LAMS). The LAMS combines the functions of the gimbal structure, torque motors, and rotor bearings of a CMG. The LAMS uses a single superconducting source coil and an array of cryoresistive control coils to produce a specific output torque more than an order of magnitude greater than conventional devices. The designed and tested LAMS system is based around an available superconducting solenoid, an array of twelve room-temperature normal control coils, and a multi-input, multi-output control system. The control laws were demonstrated for stabilizing and controlling the LAMS system.

Description: Magnetic bearings are large-scale applications of magnet technology, quite similar in certain ways to synchronous machinery. They require substantial flux density over relatively large volumes of space. Large flux density is required to have satisfactory force density. Satisfactory dynamic response requires that magnetic circuit permeances not be too large, implying large air gaps. Superconductors, which offer large magnetomotive forces and high flux density in low permeance circuits, appear to be desirable in these situations. Flux densities substantially in excess of those possible with iron can be produced, and no ferromagnetic material is required. Thus the inductance of active coils can be made low, indicating good dynamic response of the bearing system. The principal difficulty in using superconductors is, of course, the deep cryogenic temperatures at which they must operate. Because of the difficulties in working with liquid helium, the possibility of superconductors which can be operated in liquid nitrogen is thought to extend the number and range of applications of superconductivity. Critical temperatures of about 98 degrees Kelvin were demonstrated in a class of materials which are, in fact, ceramics. Quite a bit of public attention was attracted to these new materials. There is a difficulty with the ceramic superconducting materials which were developed to date. Current densities sufficient for use in large-scale applications have not been demonstrated. In order to be useful, superconductors must be capable of carrying substantial currents in the presence of large magnetic fields. The possible use of ceramic superconductors in magnetic bearings is investigated and discussed and requirements that must be achieved by superconductors operating at liquid nitrogen temperatures to make their use comparable with niobium-titanium superconductors operating at liquid helium temperatures are identified.

Description: The objective of this research was to develop advanced six-degree-of-freedom actuators employing magnetic suspensions suitable for the control of structural vibrations in large space structures. The advanced actuators consist of a magnetically suspended mass that has three-degrees-of-freedom in both translation and rotation. The most promising of these actuators featured a rotating suspended mass providing structural control torques in a manner similar to a control moment gyro (CMG). These actuators employ large-angle-magnetic suspensions that allow gimballing of the suspended mass without mechanical gimbals. Design definitions and sizing algorithms for these CMG type as well as angular reaction mass actuators based on multi-degree-of-freedom magnetic suspensions were developed. The performance of these actuators was analytically compared with conventional reaction mass actuators for a simple space structure model.

Description: The results of a modelling and control study for an advanced momentum storage device supported on magnetic bearings are documented. The control challenge posed by this device lies in its dynamics being such a strong function of flywheel rotational speed. At high rotational speed, this can lead to open loop instabilities, resulting in requirements for minimum and maximum control bandwidths and gains for the stabilizing controllers. Using recently developed analysis tools for systems described by complex coefficient differential equations, the closed properties of the controllers were analyzed and stability properties established. Various feedback controllers are investigated and discussed. Both translational and angular dynamics compensators are developed, and measures of system stability and robustness to plant and operational speed variations are presented.