Spin and tilt control of a multi-degree of freedom electromagnetic machine

A control moment gyro system, comprising:

• a spherical structure configured to rotate about a spin axis and about a tilt axis that is perpendicular to the spin axis, the spherical structure having a first axis of symmetry, a second axis of symmetry, and a third axis of symmetry, the first, second, and third axes of symmetry disposed perpendicular to each other;
• a first spin conductor disposed on the spherical structure about the first axis of symmetry;
• a second spin conductor disposed on the spherical structure about the second axis of symmetry;
• a tilt conductor disposed on the spherical structure about the third axis of symmetry;
• a second structure disposed adjacent to the spherical structure and including a plurality of magnets, each magnet having at least one of its magnetic poles facing the spherical structure;
• and
• a control coupled to the first spin conductor, the second spin conductor, and the tilt conductor, the control configured to controllably supply alternating current (AC) to the first and second spin conductors and direct current (DC) to the tilt conductor,
• wherein the spherical structure (i) continuously rotates about the spin axis in response to the AC being supplied to the first and second spin conductors, and (ii) rotates about the tilt axis to a tilt position in response to the DC being supplied to the tilt conductor.

A method of controlling a multi-degree-of-freedom electromagnetic machine that includes a first structure and a second structure, wherein the first structure is configured to rotate about a spin axis and about a tilt axis that is perpendicular to the spin axis, and includes a first spin conductor, a second spin conductor, and a tilt conductor, where the first spin conductor follows a first general trajectory, the second spin conductor follows a second general trajectory that is different from the first general trajectory, the tilt conductor follows a third general trajectory that is different from the first and second general trajectories, and where the first spin conductor, the second spin conductor, and the tilt conductor together form a general shape of a surface;

• and wherein the second structure is disposed adjacent to the first structure and includes a plurality of magnets, each magnet having at least one of its magnetic poles facing the surface, the method comprising the steps of:
• controllably supplying alternating current (AC) to the first and second spin conductors, to thereby cause the first structure to continuously rotate about the spin axis;
• and
• controllably supplying direct current (DC) to the tilt conductor, to thereby cause the first structure to rotate about the tilt axis to a tilt position.