CN100367137C - Integral high precision control moment gyro gimbal servo digital controller - Google Patents
Integral high precision control moment gyro gimbal servo digital controller Download PDFInfo
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- CN100367137C CN100367137C CNB2006100120954A CN200610012095A CN100367137C CN 100367137 C CN100367137 C CN 100367137C CN B2006100120954 A CNB2006100120954 A CN B2006100120954A CN 200610012095 A CN200610012095 A CN 200610012095A CN 100367137 C CN100367137 C CN 100367137C
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Abstract
The present invention relates to a servo digital control device of integration high accuracy control torque gyro frame, which is a digital device used for controlling a servo system of a magnetic suspension control torque gyro frame. The present invention mainly comprises an interface circuit, a DSP system and a power module, wherein the DSP system obtains data, such as currents, rotary speed, position signals, etc., of a servo motor through the interface circuit, and the control quantity generated through the operation according to a certain control algorithm is used for modulating PMW. PMW signals which are modulated pass through a drive circuit to be conveyed to a single-phase inversion bridge circuit composed of power devices, control currents required by the servo motor of the frame, and thereby, the high accuracy control of the servo system is realized. The present invention achieves the integrated design of a digital controller and a digital power amplifier of the servo system of the gyro frame so that the integration degree of the controller is greatly improved, and the advanced control algorithm is applied so that the high accuracy control of the servo system is realized.
Description
Technical field
The present invention relates to a kind of integral high precision control moment gyro gimbal servo digital controller, be used for High Accuracy Control, be specially adapted to low-power consumption, high integration, high-precision accurate Spacecraft Control topworks magnetic suspension control-moment gyro frame servo system.
Background technology
Control-moment gyro is an attitude control actuator basic on Large Spacecraft and the space station, magnetic suspension control torque gyroscope has advantages such as big moment output, low vibration with respect to traditional mechanical control-moment gyro, so have broad application prospects on high precision large-sized satellite.Magnetic bearing supporting does not have friction in addition, has avoided mechanical bearing itself because the wearing and tearing that friction brings, and its reliability depends on the degree of reliability of control system electronic devices and components, therefore the control-moment gyro that supports with respect to mechanical bearing its have longer serviceable life.
The output accuracy of the speed output accuracy decision magnetic suspension control torque gyroscope moment of framework servo-drive system, so the high-precision controller of framework servo-drive system is its gordian technique that must break through.Existing framework servo system controller is divided into analog controller and digitial controller two big classes.Because analog controller is connected with high-precision angular position pick up, need to increase the D/A link, greatly reduce the precision of position, angle, and be difficult to realize the control algolithm of more complicated, can not satisfy the needs of magnetic suspension control-moment gyro frame servo system High Accuracy Control, so digitial controller is an inevitable choice.The advantage of digitial controller shows: can online in real time regulate parameter, can realize complicated controller algorithm, can satisfy the requirement of High Accuracy Control.Digitial controller is fit to integratedly in addition, and modular design is dwindled greatly with respect to its volume of analog controller, and power consumption obviously reduces, and this haves a great attraction for AEROSPACE APPLICATION.The update of system is more easy owing to only relate to software in addition.But the two ring control modes that present existing servo system digital control apparatus generally adopts can not guarantee the control accuracy of system.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, provide a kind of integrated level high precision height, antijamming capability is strong, volume is little, lightweight control-moment gyro framework servo system digital control apparatus.
Technical solution of the present invention is: a kind of integral high precision control moment gyro gimbal servo digital controller, it is characterized in that: comprise angular position pick up, angular-rate sensor, current sensor, framework servomotor, interface circuit, dsp system, power model, wherein signal interface circuit comprises position transducer interface circuit, tach signal interface circuit and current sensor interface circuit, and power model comprises high speed photo coupling buffer circuit, driving circuit, single-phase inversion bridge circuit and overcurrent protection signal generating circuit; Angular position pick up is gathered the digitizing angle position signal of framework servomotor, converts the interior voltage signal of DSP input range to through the position transducer interface circuit; Angular-rate sensor is gathered the angular velocity simulating signal of framework servomotor, converts the interior voltage signal of DSP input range to through the tach signal interface circuit; Current sensor is gathered the current analog signal of framework servomotor, the voltage signal in the over-current sensor interface circuit converts the DSP input range to; After dsp system is gathered the digital signal and tach signal and servomotor winding current simulating signal of above-mentioned position, angle simultaneously, carry out the control of servo-drive system electric current loop, speed ring and position ring simultaneously in inside, carrying out computing according to control algolithm generates controlled quentity controlled variable and it is carried out the PWM modulation, the pwm signal that modulation is finished is sent to the single-phase inversion bridge circuit behind high speed photo coupling buffer circuit, driving circuit again, the Control current that the generic frame servomotor is required, thus realization is to the High Accuracy Control of servo-drive system.
In addition, be connected to the RS232 interface on the dsp system, this RS232 interface is connected to has frame motor instruction given and position, angle and the direct host computer that shows of angular velocity, carries out any given and real-time demonstration of position, magnetic suspension control-moment gyro frame servo system angle and angular velocity.
Principle of the present invention is: the input interface that the invention provides analog quantity and digital signal, electric current after power amplification output interface is provided, and DSP link to each other with host computer online given, debugging, the communication interface that diagnosis and real time data show, digital quantity (position signalling) by angular position pick up output is directly imported dsp system through the interface circuit conversion, by the ADC module samples of DSP, DSP is to the digital quantity (position signalling) and the rate signal of coming in of sampling by the current signal in the servomotor winding of the rate signal of angular rate sensor output and current sensor senses, current signal carries out calculation process according to certain digital control algorithm; Utilize the pulse width modulation (PWM) maker of DSP that control signal is carried out the PWM modulation simultaneously, output PWM modulation signal offers framework servomotor Control current with the power controlling switching device by interface.
The present invention's advantage compared with prior art is:
(1) the present invention has utilized dsp chip can receive the function of digital and analog signaling, gather position, angle, angular speed and the motor current signal of servo-drive system simultaneously, handle the control algolithm of servo-drive system electric current loop, speed ring and position ring simultaneously in digitial controller inside, make up high precision framework servomotor control device, and had debugging simultaneously flexibly, conveniently.Circuit structure is simple, volume is little, in light weight.
(2) circuit structure of the present invention has saved the D/A link and the PWM in the analog amplifier that handle the position control ring in the existing numerical control device and has produced circuit, with DSP control signal directly is modulated to pwm signal, this design simplification circuit, accelerate system response time, improved system's antijamming capability.
(3) adopt a slice dsp chip to finish the High Accuracy Control of framework servomotor, and realized the digitizing of servomotor power amplifier pulse generation circuit, reduced the controller power consumption as processor.Be specially adapted to Aero-Space etc. and power consumption had the field of strict demand.
(4) the invention provides the input interface of digital quantity and analog quantity, the computing of electric current, speed and positional control algorithm can be carried out in digitial controller simultaneously, realize the online adjusting of each link parameter, satisfied the real-time requirement of servomotor control signal.
In a word, sort circuit structure of the present invention has been saved the D/A link and the PWM in the analog amplifier that handle the position control ring in the existing numerical control device and has been produced circuit, can be with the control algolithm synchronous operation of position ring, speed ring and electric current loop.This design simplification circuit, accelerated the response speed of system, improved the control accuracy and the antijamming capability of system.
Description of drawings
Fig. 1 is a structure composition frame chart of the present invention;
Fig. 2 is a control principle block diagram of the present invention;
Fig. 3 is a dsp system circuit block diagram of the present invention;
Fig. 4 is the structured flowchart of power model of the present invention;
Fig. 5 is angular position pick up interface circuit figure of the present invention;
Fig. 6 is tach signal interface circuit figure of the present invention;
Fig. 7 is current sensor interface circuit figure of the present invention;
Fig. 8 is a DSP control algolithm process flow diagram of the present invention.
Embodiment
As Fig. 1; shown in 2; the present invention includes interface circuit 12; dsp system 13 and power model 14; wherein interface circuit 12 comprises position transducer interface circuit 7; tach signal interface circuit 10; current sensor interface circuit 11; power model 14 comprises high speed photo coupling buffer circuit 4; driving circuit 3; single-phase inversion bridge circuit 2; current sensor 16 and overcurrent protection signal generating circuit 15; position, framework servomotor angle is connected to dsp system 13 by the position digital signal of angular position pick up output by position transducer interface circuit 7; angular rate sensor is connected to dsp system 13 by tach signal interface circuit 10; current sensor 16 is connected to dsp system 13 by current sensor interface circuit 11; dsp system 13 receives the position digital signal of angular position pick up output; and the tach signal of the angular rate sensor output of sampling respectively; behind the current signal in the framework servomotor winding of current sensor senses; carry out calculation process according to digital control algorithm; current signal and control signal compare the back output pwm signal simultaneously; pwm signal directly passes through high speed photo coupling buffer circuit 4; driving circuit 3 sends single-phase inversion bridge circuit 2 to; with the required Control current of single-phase inversion bridge circuit 2 generic frame servomotor windings of power controlling switching device composition, thus the High Accuracy Control of implementation framework servo-drive system.The present invention has also designed RS232 interface 6, can carry out the communication between DSP and the host computer, finish by host computer position, angle and angular speed given arbitrarily, controlled variable online modification and to the real-time demonstration and the monitoring of servomotor duty.
As shown in Figure 3, dsp system 13 of the present invention adopts the TMS320F2xxx family chip, position sensor signal converts through interface circuit that (0～3V) directly sends into dsp system 13 to, angular rate sensor signal and current sensor signal are amplified through interface circuit, be complementary (0～3V) with the A/D input range behind the level deviation, send into the A/D input end of dsp system 13 after rotating speed and the current signal preposition anti-aliasing low-pass filtering of process (cutoff frequency can be regulated according to the sample frequency of being taked), dsp system 13 carries out calculation process according to numerically controlled control algolithm then, produces the accurate controlled quentity controlled variable of servomotor.The TMS320F2xxx family chip can produce independently 1 to (i.e. two outputs) pwm signal by 1 comparing unit with dead band able to programme control.Because the TMS320F2xxx family chip provides a whole set of SOC (system on a chip) for the designer, this design makes dsp system needn't expand any peripheral components, just can finish the High Accuracy Control of framework servo-drive system and the digitizing of servomotor power amplifier by a slice dsp chip, thereby replace the control signal in the existing analog amplifier circuit and the mixed arichmetic circuitry of current sensor current signal, and relative complex, pulse generation circuit that power consumption is bigger.And then farthest satisfy the requirement of system integration, thus simplify circuit structure, reduce the power consumption of control circuit, improve the integrated level of circuit and the reliability of system.
As shown in Figure 4; for the high speed photo coupling buffer circuit of servomotor of the present invention, driving circuit, overcurrent protection produce the circuit diagram of circuit and single-phase inversion bridge circuit, the high speed photo coupling circuit adopts the TLP2630 chip to realize the pwm signal of DSP output and the isolation of forceful electric power pulse.Pwm signal is through IR2110 driving power pipe IRF3710.Overcurrent protection produces circuit and adopts comparer LM339 and TLP2630,4001,4025 to constitute, and can prevent the straight-through overcurrent protection that the servomotor winding also can be provided of MOSFET mains side.The threshold value that the servomotor winding is set by regulator potentiometer realizes, when overall height appears in a pair of pwm signal that surpasses a passage of setting value or DSP output when the servomotor electric current, 4025 output low levels all, thus the straight-through and motor windings excess current of servomotor DC side power supply prevented.
As shown in Figure 5, the position transducer interface circuit to the position digital signal of position transducer output (0～5V) does step-down, convert to the dsp system input range be complementary (0～3V).Change when the present invention adopts the SN74ALVC164245 chip can realize 16 way word signals as change-over circuit, improved the integrated level of system.
As shown in Figure 6; speed probe detects the tach signal of framework servomotor in real time; potentiometer W03 regulates and obtains voltage signal Safe_reg1 in the speed probe interface circuit, and the U10C chip is with the anti-phase output protection magnitude of voltage Safe_reg that obtains tach signal of Safe_reg1.The level deviation amount BIAS_Vi of tach signal V regulates by potentiometer W0304 and obtains, potentiometer W91 carries out suitable amplification to the signals of rotational speed sensor of handling through the U9A chip and dwindles then, convert A/D input range (0～3V) signal value that is complementary at last to the TMS320F2xxx chip, pass through the one-level second-order low-pass filter again, the filter away high frequency noise signal prevents to produce spectral aliasing.
As shown in Figure 7, current sensor detects framework servomotor winding current in real time, the current sensor interface circuit is regulated by potentiometer W0102 and is produced BIAS_Ci, the U10D chip carries out the BIAS_Ci signal level deviation amount BIAS_C of anti-phase generation current signal i, potentiometer W101 carries out suitable amplification to the current sensor signal of handling through the U10A chip and dwindles then, obtain A/D input range (0～3V) current signal value that is complementary at last with the TMS320F2xxx chip, pass through the one-level second-order low-pass filter again, the filter away high frequency noise signal prevents to produce spectral aliasing.
As shown in Figure 8, the present invention has adopted position closed loop differential forward PD, speed ring PI, electric current loop PI to add the control algolithm of friciton compensation, can effectively suppress the friction various interference relevant with motor speed of framework servo-drive system, realize the high precision running of magnetic suspension control-moment gyro frame servo system with other.The given signal in Rm (k) expression position; R (k), v (k) and i (k) represent to adopt the motor angle position digital signal into the angular position pick up output of TMS320F2xxx chip, the motor angular speed digital signal of angular rate sensor output and the motor coil current digital signal of current sensor output respectively.
PWM1, PWM2 are the PWM modulation signal of the Electric Machine Control amount of DSP output, and the calculating formula of controlled quentity controlled variable is:
OUTi(k)＝PIEv(k)+Fc(k)
ER(k)＝Rm(k)-R(k)
Ev(k)＝PDER(k)-v(k)
Ei(k)＝OUTi(k)-i(k)
Friction parameter kc adopts least squares identification to calculate by motor coil current signal i (k), motor angle position signal R (k) and angle rate signal v (k), with kc and angle rate signal v (k) substitution friction model Fc (kc, v (k)) calculates friciton compensation amount Fc (k), control calculates PDER (k) through PD by ER (k), control calculates PIEv (k) through PI by Ev (k), Ei (k) is done the PI computing, then this result is carried out PWM modulation and output modulation waveform, concrete sequential operation flow process is seen Fig. 8.
The present invention can be used as a kind of hardware platform of general magnetic suspension control-moment gyro frame servo system High Accuracy Control, and enough hardware resources are provided.Application person can realize its function by revising software flexibly and easily according to its special application.
Claims (4)
1. integral high precision control moment gyro gimbal servo digital controller, it is characterized in that: comprise angular position pick up (8), angular-rate sensor (9), current sensor (16), framework servomotor (1), interface circuit (12), dsp system (13), power model (14), wherein signal interface circuit (12) comprises position transducer interface circuit (7), tach signal interface circuit (10) and current sensor interface circuit (11), power model (14) comprises high speed photo coupling buffer circuit (4), driving circuit (3), single-phase inversion bridge circuit (2); Angular position pick up (8) is gathered the digitizing angle position signal of framework servomotor (1), converts the interior voltage signal of DSP input range to through position transducer interface circuit (7); Angular-rate sensor (9) is gathered the angular velocity simulating signal of framework servomotor (1), converts the interior voltage signal of DSP input range to through tach signal interface circuit (10); Current sensor (16) is gathered the current analog signal of framework servomotor (1), converts voltage signal in the DSP input range to through over-current sensor interface circuit (11); After dsp system (13) is gathered the digital signal and tach signal and servomotor winding current simulating signal of above-mentioned position, angle simultaneously, carry out the control of servo-drive system electric current loop, speed ring and position ring simultaneously in inside, carrying out computing according to control algolithm generates controlled quentity controlled variable and it is carried out the PWM modulation, the pwm signal that modulation is finished is sent to single-phase inversion bridge circuit (2) behind high speed photo coupling buffer circuit (4), driving circuit (3) again, the Control current that the generic frame servomotor is required, thus realization is to the High Accuracy Control of servo-drive system.
2. integral high precision control moment gyro gimbal servo digital controller according to claim 1, it is characterized in that: be connected to RS232 interface (6) on the described dsp system (13), described RS232 interface (6) interface is connected to has frame motor instruction given and position, angle and the direct host computer (5) that shows of angular velocity, carries out any given and real-time demonstration of position, magnetic suspension control-moment gyro frame servo system angle and angular velocity.
3. integral high precision control moment gyro gimbal servo digital controller according to claim 1 and 2, it is characterized in that: described dsp system (13) adopt a slice TMS320F2 * * * family chip is as processor, finish the High Accuracy Control of magnetic suspension control-moment gyro frame servo system, need not expand any peripheral components.
4. integral high precision control moment gyro gimbal servo digital controller according to claim 1; it is characterized in that: described power model also comprises the overcurrent protection signal generating circuit (15) that joins with driving circuit, to prevent the straight-through overcurrent protection that the servomotor winding also can be provided of MOSFET mains side.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10202208B1 (en) | 2014-01-24 | 2019-02-12 | Arrowhead Center, Inc. | High control authority variable speed control moment gyroscopes |
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| CN100441483C (en) * | 2006-12-14 | 2008-12-10 | 北京航空航天大学 | Integrated magnetically suspended control moment gyroscope control platform |
| CN101931371B (en) * | 2010-08-06 | 2013-07-03 | 中国人民解放军国防科学技术大学 | Magnetic suspension bearing control power amplification integrated system |
| WO2012063129A2 (en) * | 2010-11-08 | 2012-05-18 | Energy Micro AS | Low energy sensor interface |
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| CN106997183B (en) * | 2016-01-25 | 2019-04-19 | 北京林业大学 | Magnetic suspension control moment gyro monitoring system for simulating rocket launching and on-orbit running |
| CN109502055B (en) * | 2018-12-10 | 2020-08-11 | 上海航天控制技术研究所 | Driving control system and method for controlling moment gyroscope outer frame |
| CN110262331B (en) * | 2019-06-12 | 2020-08-14 | 北京航天控制仪器研究所 | Multi-mode gyro moment-adding and aiming interface circuit adaptive to movable base calibration |
| CN112019100B (en) * | 2020-08-21 | 2022-05-10 | 北京航空航天大学 | Linear motor control system based on wireless data transmission |
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