CN100391792C - Two-purpose high speed magnetic suspension pose control and energy storing flywheel energy release control system - Google Patents
Two-purpose high speed magnetic suspension pose control and energy storing flywheel energy release control system Download PDFInfo
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- CN100391792C CN100391792C CNB2006101651630A CN200610165163A CN100391792C CN 100391792 C CN100391792 C CN 100391792C CN B2006101651630 A CNB2006101651630 A CN B2006101651630A CN 200610165163 A CN200610165163 A CN 200610165163A CN 100391792 C CN100391792 C CN 100391792C
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Abstract
The two-purpose high speed magnetic suspension pose control and energy storing flywheel energy release control system for providing satellite, space station and other spacecraft in the shaded area consists of one software controller based on DSP, one DC step down chopper, one triphase rectifying diode bridge, brushless permanent magnetic DC motor, Hall effect rotor position sensor, etc. The energy storing flywheel energy release technology possesses unique advantages for space application, including great energy storing density, long service life, stable operation performance and high energy converting efficiency.
Description
Technical field
The present invention relates to a kind of two-purpose high speed magnetic suspension pose control and energy storing flywheel energy release control system, be used to realize that the energy of kinetic energy that Large Spacecraft is stored such as low earth-orbit satellite (LEO), geo-synchronous orbit satellite (GEO), space station (large-scale Low Earth Orbit (LEO) spacecraft), interstellar vehicle discharges control.
Background technology
Energy problem is one of main restricting factor that satellite life is short, reliability is low, and the supply capacity of raising power supply, the life-span of power supply and reliability are the key problems that the big load satellite of a new generation needs to be resolved hurrily.Accumulated energy flywheel energy release tech energy storage density is big, life-span length, stable work in work, electric weight are determined, energy conversion efficiency is high, for many spacecrafts, has remarkable meaning at aspect of performances such as improving power supply supply capacity, life-saving, raising reliability.
The input source of the energy is generally solar panel on the star, solar panel or directly be attached to celestial body outside face (for spin stabilized satellite), or forming the sun wing extends to celestial body outer (for three axis stabilized satellite).When satellite is in the district at sunshine, the sun wing is the main energy sources source of satellite, but is in shaded area when satellite, will replace the sun wing as the energy storage device of backup this moment and power for whole star.Furtherly, the sun wing generally is to carry out design-calculated according to normal value power consumption, and does not consider the extreme case of peak power, and on this meaning, the energy storage device of backup also can be used as replenishing of sun wing power supply capacity, satisfies the requirement of satellite peak power.At present, energy storage device commonly used on the star is a storage battery, belongs to electric energy-chemical power transfer device, has nickel-hydrogen, nickel-cadmium and lithium ion battery etc. several.
Flywheel replaces storage battery as energy storage device, its groundwork is the kinetic energy (mechanical energy) that converts electrical energy into rotor rotation, by direct motor drive flywheel high speed revolution the energy is stored, when the needs electric energy, by electrical generator mechanical energy is converted to electric energy again.Here electrical motor and electrical generator are same device, inverse process each other.Flywheel is as energy storage facilities, and its cycle life depends on (expectation) life-span of electronic circuit and rotor material, and its cycle life finally is certain to surpass the life-span of chemical cell.Flywheel is as another advantage of closed-center system, and being that its energy storage (charging) state is easier determines that the rotational angular velocity that only needs to measure flywheel by rate meter gets final product.Utilize rate meter to handle simultaneously to make the model of control torque of flywheel acceleration, deceleration very simple, can't increase the complexity of system.
The pose control and energy storing flywheel integrates the execution unit (as: reaction wheel, momentum wheel and control moment gyroscope) and the energy reservoir part of posture control system as energy storage device, reduces the satellite quality greatly.In addition, the charge and discharge speed of flywheel is faster than storage battery, and like this, the management of the energy and distribution system also can be done fairly simplely, and weight also can be lighter.
Modern Application has much in the method for accumulated energy flywheel energy delivery system, but great majority all are at industrial circle, occasion at constant voltage, constant frequency, and the high speed magnetic suspension pose control and energy storing flywheel discharges along with energy, rotating speed constantly descends, the amplitude and the frequency of corresponding three-phase output voltage also can decrease, and output voltage requires to press for galvanic current, so can be applied in the less of this field.Adaptable have PWM rectification, BUCK DC chopper, a BOOST changer etc., PWM rectifying circuit complexity wherein, and reliability is lower for use in the space, is not suitable for the middle low power system, and on-board equipment mostly is DC supply and does not need the inversion link; Shortcomings such as though traditional BUCK DC chopper is simple in structure, low in energy consumption, be easy to control, stable performance, exists output voltage high frequency ripple component big, and power factor is uncontrollable; And the BOOST changer is a boost chopper, risen to original 2.34-2.45 doubly about when non-loaded (be respectively load and) by the three phasevoltage of motor output through magnitude of voltage after the diode rectification, so for the not high situation of the employed voltage of on-board equipment, this kind method significant discomfort is closed.
Summary of the invention
The technical matters that the present invention solves is: it is little to have designed a kind of output voltage high frequency ripple, output dc voltage is stable, horsepower output is controlled, the conversion efficiency height, and the high speed magnetic suspension pose control and energy storing flywheel that is fit to middle low power system on the star is changed into the energy release control system of electric energy by kinetic energy.
Technical solution of the present invention is: the high speed magnetic suspension pose control and energy storing flywheel energy release control system, brushless, permanently excited direct current motor, three-phase diode rectifier bridge, low-pass filter, the direct electric current comparison controller of chopping sea, PWM control follower, DC decompression chopper, Hall effect rotor-position sensor, wherein produce three-phase voltage signal during the brushless, permanently excited direct current motor high speed revolution, rectification changes vdc into through the three-phase diode rectifier bridge, low-pass filter filters high frequency ripple, exports to DC decompression chopper output dc voltage; The voltage feedback signal that takes out from DC decompression chopper mouth produces pwm control signal through the direct electric current comparison controller of chopping sea simultaneously, together enter the PWM o controller with the tach signal of Hall effect rotor-position sensor output, be used for controlling the dutycycle of the binistor of DC decompression chopper, guarantee that the DC decompression chopper has galvanic current and presses output.
Principle of the present invention is: utilize the satellite electric energy that the district is provided by solar panel at sunshine to make the flywheel high speed rotating and store kinetic energy, flywheel reduction of speed when shaded area discharges kinetic energy and is converted to electric energy, for on-board equipment provides electric energy.The effect of overbalance rotating torque is the basic reason that the flywheel rotating speed changes, and when the direction of torque was consistent with the flywheel rotation direction, flywheel was owing to the effect that is subjected to the torque of forward overbalance is quickened, and Conversion of energy is that kinetic energy stores; On the contrary, flywheel slows down, and kinetic energy is converted into the energy of other form.The expression formula of the kinetic energy of object (E) is:
In the formula (1), m-flywheel rotor quality; V-flywheel rotor linear velocity.Because the speed of each point is different on the flywheel, so its kinetic energy can also be expressed as:
In the formula (2), the expression of ∑-" summation "; m
i-be the quality of flywheel rotor each point; v
i-be the linear velocity of each point on the flywheel rotor.By (2) formula as can be known, flywheel energy storage size is removed outside the Pass quality (weight) with flywheel has, and is also relevant with the speed of each point on the flywheel, and the relation that is square.
But,, in conversion process, can absorb with let-loose energy and be so generally use following formula to do calculating because following formula can not directly calculate flywheel intuitively and store and let-loose energy:
In the formula (3), the rotor inertia of J-flywheel rotor (this is a fixed value after flywheel rotor processes, and is relevant with the shape of flywheel rotor, material etc.); ω
MaxRotational angular velocity value when-flywheel rotor velocity of rotation is maximum; ω
Min-flywheel rotor discharges the minimum rotation magnitude of angular velocity of utilizable electric energy.By ω
Max, ω
MinJust can calculate energy and discharge technical parameters such as the degree of depth, energy storage density.
The design mainly contains following advantage:
(1) the DC decompression chopper that the present invention taked is an Improved B UCK DC chopper, its not only inherited the BUCK DC chopper simple in structure, low in energy consumption, be easy to control, stable performance, reliability advantages of higher, and increased input, output LPF link, guaranteed the steady of input, output voltage and electric current; Taked the mode that combines with the direct electric current comparison method of chopping sea, made output voltage high frequency ripple of the present invention little, output dc voltage is stable, and horsepower output is controlled, and the conversion efficiency height is fit to the system of this middle low power of on-board equipment;
(2) the direct current ratio of chopping sea of the present invention has switching frequency than the control method and fixes, and the control of the switch of single brachium pontis is complementary, and control circuit is simple, and directly detects the ac-side current signal and controlled, faster system response, and dynamic response is good;
(3) the final dc voltage stability of exporting of the present invention, high frequency ripple is little, and the loading section outgoing current is continuous, pulsation is little.
Description of drawings
Fig. 1 is a two-purpose high speed magnetic suspension pose control and energy storing flywheel system capacity diagram of circuit;
Fig. 2 is the composition frame chart of two-purpose high speed magnetic suspension pose control and energy storing flywheel energy release control system;
Fig. 3 is a two-purpose high speed magnetic suspension pose control and energy storing flywheel entire system transformation of energy working timing figure;
Fig. 4 is energy release control system main body circuit topology figure;
Fig. 5 is the hardware block diagram of the direct electric current comparison controller of chopping sea of the present invention;
Fig. 6 is the relatively control method schematic diagram of the direct electric current comparison controller of chopping sea of the present invention.
The specific embodiment
(hollow arrow is represented the district at sunshine as shown in Figure 1, filled arrows is represented shaded area), be two-purpose high speed magnetic suspension pose control and energy storing flywheel system capacity diagram of circuit, it is divided into two parts, is to provide electric energy by solar panel for satellite borne equipment at sunshine during the district, and the two-purpose high speed magnetic suspension pose control and energy storing flywheel system provides electric energy simultaneously, drives its rotation, and the realization attitude is controlled and the form of energy with kinetic energy stored; When spacecraft during at shaded area, solar panel loses effectiveness, discharges kinetic energy by the two-purpose high speed magnetic suspension pose control and energy storing flywheel system and is converted to electric energy and provides energy for satellite borne equipment, takes into account the attitude controllable function simultaneously.
As shown in Figure 2, be the composition frame chart of a kind of two-purpose high speed magnetic suspension pose control and energy storing flywheel energy release control system of the present invention, it is made up of links such as brushless, permanently excited direct current motor 1, three-phase diode rectifier bridge 2, low-pass filter 3, the direct electric current comparison controller 4 of chopping sea, PWM o controller 5, DC decompression chopper 6, Hall effect rotor-position sensors 7; In the energy dispose procedure, produce three-phase voltage signal during brushless, permanently excited direct current motor 1 high speed revolution, 2 rectifications change vdc into through the three-phase diode rectifier bridge, and low-pass filter 3 filters high frequency ripple, exports to DC decompression chopper 6 output dc voltages; The voltage feedback signal that takes out from DC decompression chopper 6 mouths produces pwm control signal through the direct electric current comparison controller 4 of chopping sea simultaneously, together enter PWM o controller 5 with the tach signal of Hall effect rotor-position sensor 7 outputs, be used for controlling the dutycycle of the binistor of DC decompression chopper 6, guarantee that DC decompression chopper 6 has galvanic current and presses output; In addition, detect motor speed, when being lower than certain fixed rotating speed, because the low excessively switching valve of closing DC decompression chopper 6 of output voltage stops electric energy and discharges by Hall effect rotor-position sensor 7.
As shown in Figure 3, be two-purpose high speed magnetic suspension pose control and energy storing flywheel entire system transformation of energy work schedule, the pose control and energy storing fly wheel system comprises dynamoelectric machine, flywheel rotor etc., and energy discharges control part and comprises three-phase diode rectifier bridge, DC decompression chopper, three parts of the direct electric current comparison controller of chopping sea; At first wheel control system control pose control and energy storing flywheel dynamoelectric machine (do electrical motor and use this moment) makes dynamoelectric machine drive the flywheel rotor raising speed, the input electric energy is converted to the kinetic energy of flywheel rotor; When energy discharges, energy discharges control part control flywheel rotor reduction of speed, by motor (do electrical generator and use this moment) output three phasevoltage, pass through the rectification of three-phase diode rectifier bridge, export to the DC decompression chopper, the direct electric current comparison controller of chopping sea is by the input of voltage feedback signal and the input of Hall tach signal, control the dutycycle of DC decompression chopper switches device, guarantee the output of galvanic current pressure.
Fig. 4 is the topological diagram of two-purpose high speed magnetic suspension pose control and energy storing flywheel system capacity release control system main body circuit DC decompression chopper, it is mainly by inductance, electric capacity, MOSFET, compositions such as diode, at first rectification is a direct current to the three phasevoltage of being exported by motor through the three-phase diode rectifier bridge, then by inductance L 1 capacitor C 1, after the low-pass filter circuit elimination high frequency ripple and voltage stabilizing that C2 forms, be connected with the drain D utmost point of MOSFET again, and diode of inverse parallel between the source S utmost point of MOSFET and ground, the control signal that the grid G utmost point of MOSFET is sent by DSP is by the break-make of driving circuit control MOSFET, and MOSFET is operated on off state at this moment; Through after the MOSFET by the afterflow inductance that inductance value is bigger, can make load current continuously and pulse for a short time like this, again through an electric capacity of voltage regulation, the elimination high frequency ripple is finally exported the galvanic current pressure.
As shown in Figure 5, hardware block diagram for the direct electric current comparison controller of chopping sea, it is made up of the CAP capturing function unit of the CPU of TMS320LF2407A DSP, memory device, A/D converter, digital I/O module, PWM waveform generation module etc., is wholely powered by controller power source; The CAP capturing function unit of wherein digital I/O module carries out the detection of rotor-position and speed signal to the motor Hall-effect rotor-position sensor, through CPU computing and the speed incoming signal of revising as the direct electric current comparison controller of chopping sea, feedback speed signal is in order to detect the rotating speed of high speed magnetic suspension pose control and energy storing flywheel, since the pose control and energy storing flywheel rotor by the high speed reduction of speed during to low speed output voltage lower, this moment, kinetic energy was also lower, depth of discharge is limited can not to reach 100%, so requiring the PWM dutycycle when rotating speed is lower than certain value (this numerical value is different in response to being used for different pose control and energy storing flywheels) is 0, the off switch pipe; Voltage feedback signal changes digital signal into through A/D converter and is input to comparing unit via the CPU computing again, and the value of process PWM waveform generation module comparand register compares the generation pwm control signal; Pwm control signal is recently regulated the output voltage of DC decompression chopper by regulating its duty, guarantees final output galvanic current pressure; The program that all control algorithms are realized all leaves in the memory device.
As shown in Figure 6, for the direct current ratio of chopping sea of the present invention is controlled method control principle figure, comprising current hysteresis ring and Voltage loop, given magnitude of voltage U
d *With voltage feedback value U
dCompare, then by Voltage loop PI output current signal i
dMultiply each other with a unit sinusoidal signal and to obtain current-order with the voltage homophase, instruction current and feedback current through behind the current PI regulating control with triangular signal relatively after, the controlled PWM modulating wave of using, control is by the motor output voltage, break-make through DC decompression chopper switches device behind the diode rectification, realize outgoing current trace command electric current, final through obtaining galvanic current pressure Ud behind the capacitance voltage stabilizing, also be the voltage at electric capacity two ends, Ud feeds back to the front end voltage ratio and locates also as voltage feedback signal; Speed feedback signal and rotary speed reference signal are relatively controlled the dutycycle of the control signal master cock pipe of follower output by PWM if rotating speed is higher than reference rotation velocity, otherwise on-off switching tube.
The present invention has realized the high speed magnetic suspension pose control and energy storing flywheel by the conversion of kinetic energy to electric energy, finally export galvanic current and press, and the load end electric current is continuous, stable and pulse little.It is not only applicable to the dual-purpose flywheel energy release control system of pose control and energy storing, also be applicable to small-sized " magnetic suspension control torque gyroscope " system, main effect is when gyro moves on star, can prevent from after burst accident from taking place gyro to be damaged, and be converted into electric energy with the gyro rotor self kinetic energy, provide safe reduction of speed required energy for gyro self, can also realize variable speed control thus.
Claims (3)
1. two-purpose high speed magnetic suspension pose control and energy storing flywheel energy release control system, it is characterized in that comprising: brushless, permanently excited direct current motor (1), three-phase diode rectifier bridge (2), low-pass filter (3), the direct electric current comparison controller of chopping sea (4), PWM o controller (5), DC decompression chopper (6), Hall effect rotor-position sensor (7), wherein produce three-phase voltage signal during brushless, permanently excited direct current motor (1) high speed revolution, rectification changes vdc into through three-phase diode rectifier bridge (2), low-pass filter (3) filters high frequency ripple, exports to DC decompression chopper (6) output dc voltage; The voltage feedback signal that takes out from DC decompression chopper (6) mouth produces pwm control signal through the direct electric current comparison controller of chopping sea (4) simultaneously, together enter PWM o controller (5) with the tach signal of Hall effect rotor-position sensor (7) output, be used for controlling the dutycycle of the binistor of DC decompression chopper (6), guarantee that DC decompression chopper (6) has galvanic current and presses output.
2. a kind of two-purpose high speed magnetic suspension pose control and energy storing flywheel energy release control system according to claim 1, it is characterized in that: the relatively control method in the direct electric current comparison controller of described chopping sea (4) realizes with program in DSP inside, comprising current hysteresis ring and Voltage loop, be voltage, the two closed loops of rotating speed, given magnitude of voltage and voltage feedback value are relatively, multiply each other by Voltage loop PI output and a unit sinusoidal signal and to obtain current-order with the voltage homophase, instruction current and feedback current through behind the current relay with triangular signal relatively after, the controlled PWM modulating wave of using, control is by the motor output voltage, break-make through DC decompression chopper (6) binistor behind the diode rectification, realize outgoing current trace command electric current, final through output galvanic current pressure behind the capacitance voltage stabilizing, the voltage at electric capacity two ends is as voltage feedback signal; Speed feedback signal and rotary speed reference signal relatively, if rotating speed is higher than reference rotation velocity, then by the make-and-break time of pwm control signal master cock pipe, otherwise on-off switching tube.
3. a kind of two-purpose high speed magnetic suspension pose control and energy storing flywheel energy release control system according to claim 1, it is characterized in that: described DC decompression chopper (6) is by inductance, electric capacity, MOSFET, diode is formed, at first pass through inductance behind the three phasevoltage process three-phase diode rectifier bridge by motor output, the low-pass filter circuit elimination high frequency ripple that electric capacity is formed, be connected with the drain electrode (the D utmost point) of MOSFET afterwards, and diode of inverse parallel between the source electrode (the S utmost point) of MOSFET and ground, the control signal that the grid of MOSFET (the G utmost point) is sent by DSP is by the break-make of driving circuit control MOSFET, and MOSFET is operated on off state at this moment; Through after the MOSFET by an afterflow inductance, can make load current continuously and pulse little, again through an electric capacity of voltage regulation, elimination high frequency ripple, output galvanic current pressure.
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| FR2927312B1 (en) * | 2008-02-11 | 2010-06-11 | Astrium Sas | ACTUATOR DEVICE FOR VARYING THE ATTITUDE OF A SPACE ENGINE |
| CN101599732B (en) * | 2009-06-01 | 2011-05-18 | 南京航空航天大学 | Control method of brushless DC motor (BLDC) position signal phase error based on back EMF zero crossing point reconstruction |
| CN101734379B (en) * | 2009-12-22 | 2012-11-14 | 北京航空航天大学 | FPGA-based highly-integrated high-precision control system for micro flywheel |
| CN101777847A (en) * | 2010-03-12 | 2010-07-14 | 广东拓奇电力技术发展有限公司 | Portable AC/DC power supply changeover device |
| CN104253567B (en) * | 2014-09-01 | 2017-02-15 | 浙江机电职业技术学院 | Four-phase direct current brushless motor driving system and method thereof |
| CN105083034A (en) * | 2015-07-30 | 2015-11-25 | 株洲南车时代电气股份有限公司 | Alternating current-direct current electric locomotive traction device and system |
| CN106934217B (en) * | 2017-02-16 | 2019-03-12 | 北京空间飞行器总体设计部 | A kind of spacecraft power fast synthesis method and system based on mission program |
| CN107352048B (en) * | 2017-06-08 | 2020-01-10 | 西北工业大学 | Kinetic energy conversion and storage device for releasing and recovering small satellites on spacecraft |
| CN109388906B (en) * | 2018-10-30 | 2022-09-13 | 哈尔滨工业大学 | Modeling method of flexible spacecraft dynamics model based on magnetic suspension bearing |
| CN111120573B (en) * | 2019-12-26 | 2022-03-18 | 沈阳微控新能源技术有限公司 | Outdoor rescue system based on energy storage flywheel |
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