CN102009597B - Magnetically suspended control moment gyro gimbal and locking control system - Google Patents
Magnetically suspended control moment gyro gimbal and locking control system Download PDFInfo
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Abstract
The invention discloses a magnetically suspended control moment gyro gimbal and a locking control system. The magnetically suspended control moment gyro gimbal mainly comprises a gimbal moment motor, a locking mechanism, an ultrasonic motor, a locking sensor circuit and a digital signal processor (DSP) and field programmable gate array (FPGA) numerical control device, wherein the DSP and FPGA numerical control device comprises a controller area network (CAN) communication circuit, a command parser, a gimbal controller, a locking/unlocking controller, a gimbal motor power drive circuit, an ultrasonic motor power drive circuit and a gimbal motor sensor circuit; the gimbal controller performs the control of three closed loops and two feed forward according to an angle position, an angle speed, a current command value output by the CAN communication circuit and the command parser and a feedback value output by the gimbal motor sensor circuit to realize high precision and rapid response control of the gimbal moment motor; and the locking/unlocking controller selects the resonance frequency of the ultrasonic motor according to the temperature and an axial displacement value output by the locking sensor circuit and positively and negatively rotates the ultrasonic motor respectively according to locking and unlocking commands so as to lock or unlock the locking mechanism.
Description
Technical field
The present invention relates to a kind of magnetic levitation control moment gyroscope frame and locking control system; Be used for the locking of high precision, fast-response control and magnetic suspension control torque gyroscope and separate lock control, be specially adapted to require the accurate Spacecraft Control actuating unit of high control accuracy, fast-response speed, high reliability the magnetic levitation control moment gyroscope frame torque motor.
Background technology
Control moment gyroscope (CMG) is the crucial actuating unit of Large Spacecraft attitude maneuvers such as large-scale satellite, space station.CMG is made up of high-speed rotor system and framework torque motor system, according to the difference of high speed rotor support pattern, divides mechanical CMG and magnetic suspension CMG.Magnetic suspension CMG adopts maglev bearing support pattern to avoid mechanical bearing itself because the wearing and tearing that friction brings with respect to the mechanical control moment gyro of mechanical ball bearing of main shaft supporting; Therefore have advantages such as long life, high rotating speed, big moment output, on Large Spacecraft, have broad application prospects.
The application principle of magnetic suspension CMG is that the high-speed magnetic levitation rotor provides moment of momentum, and the framework torque motor rotates to change the moment of momentum direction of magnetic suspension rotor, makes CMG output torque adjustment spacecraft attitude.The angle position control accuracy and the cireular frequency control accuracy of framework torque motor are high more; The direction and the size of magnetic suspension CMG output torque are accurate more; And the response of framework torque motor is fast more, and the speed of response of magnetic suspension CMG output torque is also fast more, thereby the spacecraft attitude controllable velocity is also fast more.Therefore the high precision of position, framework torque motor angle and cireular frequency, fast-response control are its gordian techniquies that must break through.Existing framework torque motor mode is divided into three ring controls and two kinds of modes of two ring controls; Two ring modes are cireular frequency ring and electric current loop; Owing to there is not the angle position ring; Be difficult to the accuracy control of position, implementation framework torque motor angle, thereby can't realize the High Accuracy Control of magnetic suspension CMG output torque direction; Three traditional ring mode speed of response are very slow, can't realize the fast reserve ability of spacecraft, and therefore traditional framework torque motor mode can't satisfy the high precision of position, angle, cireular frequency, the unification of fast-response control.The latching device of magnetic suspension CMG can protect magnetic suspension rotor not by high vibration in the rocket launching process and impact failure; The frictional transmission mechanism of supersonic motor can realize cutting off self-lock tightly; Supersonic motor need not supplied power in the rocket launching process, has improved the reliability of system, very is fit to the latching device of magnetic suspension CMG; But a large amount of heats that the frictional transmission of supersonic motor produces make the resonance mode of supersonic motor squint; Especially in vacuum environment, heat can't be through distributing streamed, and the suffered axle pressure of supersonic motor also can make its resonance mode squint when locking simultaneously; Influenced the normal operation of supersonic motor, thereby even stall can't accomplish locking, the release of latching device.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the not enough of existing magnetic levitation control moment gyroscope frame control technology and supersonic motor control technology and for magnetic suspension rotor provides protection, a kind of high precision, fast-response, highly reliable magnetic levitation control moment gyroscope frame are provided and lock control system.
Technical solution of the present invention is: a kind of magnetic levitation control moment gyroscope frame and locking control system; It is characterized in that: comprise framework torque motor, catch gear, supersonic motor, lock sensor circuit, DSP+FPGA numerical control device, wherein the DSP+FPGA numerical control device comprises CAN communicating circuit, instruction parser, framework controller, locks and separate lock controller, frame motor power driving circuit, supersonic motor power driving circuit, frame motor sensor circuit; The frame motor sensor circuit comprises rotating transformer exciting and shaft angle decoding circuit, magslip, current sensor, A/D sample circuit; The framework controller comprises angle position ring controller, cireular frequency ring controller and current loop controller.Spaceborne computer is separated query statement and locking, the unlock command that lock controller transmits given instruction in position, angle and catch gear state through the CAN communicating circuit to framework controller and locking; Position, angle given instruction input instruction resolver obtains cireular frequency feedforward instruction and current feed-forward instruction; Rotating transformer exciting and shaft angle decoding circuit are that magslip provides excitation power supply; Framework torque motor driven rotary voltage transformer rotates together; Magslip is exported four tunnel analog voltage signal to rotating transformer exciting and shaft angle decoding circuits relevant with position, framework torque motor angle; Rotating transformer exciting and shaft angle decoding circuit carry out the shaft angle decoding to four tunnel analog voltage signals relevant with position, framework torque motor angle; The digital signal of position, output framework torque motor angle and the analog signal of cireular frequency; The phase current analog signal of current sensor output framework torque motor; The analog signal of cireular frequency and the analog signal of phase current convert the digital signal of cireular frequency and the digital signal of phase current to through the A/D sample circuit; Given subtracting each other with the digital signal position, angle inputs to the angle position ring controller and controls computing the position, angle; The output signal of angle position ring controller and cireular frequency feedforward instruction sum and the digital signal of cireular frequency are subtracted each other and are inputed to the cireular frequency ring controller and control computing, and the output signal of cireular frequency ring controller and current feed-forward instruct the digital signal of sum and phase current to subtract each other to input to current loop controller controls computing, and the controlling quantity that current loop controller is exported is the dutyfactor value of pwm pulse; Current loop controller output pwm pulse to frame motor power driving circuit, the frame motor power driving circuit amplifies, is reverse into ac voltage signal drive frame booster torque motor to pwm pulse and rotates.The lock sensor circuit is separated lock controller to voltage signal to the locking that catch gear and supersonic motor detect output catch gear state, temperature, longitudinal travel; Locking is separated lock controller output catch gear state to the CAN communicating circuit; And confirm the resonance mode of supersonic motor according to temperature, longitudinal travel; Locking is separated lock controller locking, the unlock command of the input of CAN communicating circuit is judged; If be the locking instruction; Square voltage pulse to the supersonic motor driving circuit of then exporting two-way phase difference 90 degree of the resonant frequency under this resonance mode zooms into the sinusoidal high-voltage signal of phase difference 90 degree, drives the supersonic motor forward rotation, thereby accomplishes the locking of catch gear; If be unlock command; Square voltage pulse to the supersonic motor driving circuit of then exporting two-way phase difference-90 degree of the resonant frequency under this resonance mode zooms into the sinusoidal high-voltage signal of phase difference-90 degree; Drive the supersonic motor backward rotation, thereby accomplish the release of catch gear.
In addition; Described DSP+FPGA numerical control device links to each other with spaceborne computer through the CAN communicating circuit, given arbitrarily, the cireular frequency control accuracy that can carry out position, magnetic suspension control-moment gyro frame servo system angle or cireular frequency and degree of stability test, controlled variable modification, control bandwidth test, critical data realtime graphic demonstration and data storage, lock and separate functions such as lock control, working state of system inquiry, trouble diagnosing and system reset.
Principle of the present invention is: spaceborne computer is separated lock controller through the CAN communicating circuit to framework controller and locking and is transmitted the given instruction in position, angle and locking, unlock command; Instruction parses cireular frequency feedforward instruction and current feed-forward instruction to instruction parser according to the angle position control; The angle position feed back signal and the cireular frequency feedback signal of rotating transformer exciting and shaft angle decoding circuit output framework torque motor rotor; The phase current feedback signal of current sensor output framework torque motor; The angle position ring controller is carried out closed loop control according to given instruction in position, angle and angle position feed back signal; Its output controlling quantity and cireular frequency feedforward instruction sum are as the given value of cireular frequency ring controller; The cireular frequency ring controller carries out closed loop control according to the given value and the cireular frequency feedback signal of cireular frequency ring; Its output controlling quantity and current feed-forward instruction sum is as the given value of current loop controller, and it is the PWM dutycycle that current loop controller is carried out the controlling quantity that closed loop control exports according to its given value and phase current feedback signal, and the framework controller is exported pwm pulse; The frame motor power driving circuit amplifies, is reverse into ac voltage signal drive frame booster torque motor to pwm pulse and rotates; Owing to the application of position, angle, cireular frequency, electric current three closed loops, improved the control accuracy of position, magnetic levitation control moment gyroscope frame angle and cireular frequency, and the speed of response of framework torque motor has been accelerated in the application of cireular frequency, current feed-forward; Temperature and the longitudinal travel value that lock controller detects supersonic motor separated in locking; Because longitudinal travel has reflected the axial pre tightening force of supersonic motor; And temperature and axial pre tightening force influence the resonance mode of supersonic motor, according to the relation of supersonic motor temperature and longitudinal travel value and resonance mode, are employed in the resonant frequency of supersonic motor under this temperature and the longitudinal travel; Can make the supersonic motor cal val still less; Move more steady, thereby improved the reliability of catch gear, locking is separated this frequency square-wave voltage signal of lock controller output two-way and is zoomed into sinusoidal high-voltage signal through supersonic motor driving circuit and drive supersonic motor and rotate; Detect the residing state of micro-switch simultaneously, until locking or the release of accomplishing catch gear.
The present invention's advantage compared with prior art is:
(1) the angle position ring that the present invention adopted, cireular frequency ring, electric current loop three closed loop controlling structures have guaranteed the angle location positioning precision and the cireular frequency control accuracy of framework Fu effectively; Thereby guaranteed the high precision of magnetic suspension control torque gyroscope output torque direction with size; The given instruction of diagonal position is simultaneously resolved; For cireular frequency ring controller and current loop controller provide cireular frequency feedforward and current feed-forward respectively; Accelerate the speed of response of framework control system, accelerated the speed of magnetic suspension control torque gyroscope output torque; The unification that has realized that High Accuracy Control and fast-response are controlled that is used in combination of angle position ring, cireular frequency ring, electric current loop three closed loop controls and cireular frequency, electric current two feedforwards.
(2) spaceborne computer can obtain the state of catch gear and send locking, unlock command according to demand through the CAN communicating circuit; Supersonic motor driving circuit drives supersonic motor rotates locking, the release of accomplishing catch gear; Vibration and the impact of having protected magnetic suspension control torque gyroscope to receive effectively in the rocket launching stage; Improved the reliability of magnetic suspension control torque gyroscope; Simultaneously supersonic motor is carried out temperature and longitudinal travel detection and adopts cooresponding resonant frequency value, make that the supersonic motor serviceability is more stable, improved the reliability of catch gear.
(3) only use the control of having accomplished magnetic levitation control moment gyroscope frame system and fastening system once cover DSP+FPGA numerical control device; Framework and the shared dsp chip of locking control system, fpga chip, communicating circuit, power circuit; Simplified the communication between fastening system, frame system and the spaceborne computer three, helped reducing volume, weight, the power consumption of circuit card and increase reliability.
Description of drawings
Fig. 1 is a structure composition frame chart of the present invention;
Fig. 2 is dsp chip of the present invention, fpga chip circuit diagram;
Fig. 3 is a framework controller diagram of circuit of the present invention;
Fig. 4 is CAN communicating circuit figure of the present invention;
Fig. 5 instruction parser of the present invention inside is formed and is connected block diagram;
Fig. 6 is rotating transformer exciting of the present invention and shaft angle decoding circuit figure;
Fig. 7 is frame motor power driving circuit figure of the present invention;
Fig. 8 is current sensor circuit figure of the present invention;
Fig. 9 separates the lock controller diagram of circuit for locking of the present invention;
Figure 10 is supersonic motor power driving circuit figure of the present invention;
Figure 11 is temperature of the present invention and shaft position sensor circuit diagram;
Figure 12 is a catch gear scheme drawing of the present invention.
The specific embodiment
As shown in Figure 1; The present invention includes framework torque motor 12, supersonic motor 13, catch gear 10, lock sensor circuit 11, DSP+FPGA numerical control device 17, wherein DSP+FPGA numerical control device 17 comprises CAN communicating circuit 2, instruction parser 3, framework controller 9, locks and separate lock controller 16, frame motor power driving circuit 14, supersonic motor power driving circuit 15, frame motor sensor circuit 5; Frame motor sensor circuit 5 comprises rotating transformer exciting and shaft angle decoding circuit 6, magslip 8, current sensor 7, A/D sample circuit 4; Framework controller 9 comprises angle position ring controller 91, cireular frequency ring controller 92 and current loop controller 93.Spaceborne computer 1 is separated the lock controller given instruction in position, 16 transmission angle and locking, unlock command through CAN communicating circuit 2 to framework controller 9 and locking; Position, angle given instruction input instruction resolver 3 obtains cireular frequency feedforward instruction and current feed-forward instruction; Rotating transformer exciting and shaft angle decoding circuit 6 provide excitation power supply for magslip 8; Framework torque motor 12 driven rotary voltage transformers 8 rotate together; Analog voltage signal to rotating transformer exciting and shaft angle decoding circuit 6 that magslip 8 output four tunnel is relevant with 12 jiaos of positions of framework torque motor; 6 pairs four tunnel of rotating transformer exciting and shaft angle decoding circuits carry out shaft angle with the relevant analog voltage signal in 12 jiaos of positions of framework torque motor and decode; The digital signal of 12 jiaos of positions of output framework torque motor and the analog signal of cireular frequency; The phase current analog signal of current sensor 7 output framework torque motors 12; The analog signal of cireular frequency and the analog signal of phase current convert the digital signal of cireular frequency and the digital signal of phase current to through A/D sample circuit 4; Given subtracting each other with the digital signal position, angle inputs to the angle position ring controller and carries out the proportional integral (PI) computing position, angle; The output signal of angle position ring controller and cireular frequency feedforward instruction sum and the digital signal of cireular frequency are subtracted each other and are inputed to the cireular frequency ring controller and carry out pid calculation, and the output signal of cireular frequency ring controller and current feed-forward instruct the digital signal of sum and phase current to subtract each other to input to current loop controller and carry out scale operation, and the controlling quantity that current loop controller is exported is the dutyfactor value of pwm pulse; Current loop controller output pwm pulse to frame motor power driving circuit 14,14 pairs of pwm pulses of frame motor power driving circuit amplify, are reverse into ac voltage signal drive frame booster torque motor 12 and rotate.11 pairs of catch gears of lock sensor circuit 10 are separated lock controller 16 with voltage signal to the locking that supersonic motor 13 detects output catch gear state, temperature, longitudinal travel; Locking is separated lock controller 16 output catch gear states to CAN communicating circuit 2; And confirm the resonance mode of supersonic motor 13 according to temperature, longitudinal travel; Locking is separated locking, the unlock command of 2 inputs of 16 pairs of CAN communicating circuits of lock controller and is judged; If be the locking instruction; Square voltage pulse to the supersonic motor driving circuit 15 of then exporting two-way phase difference 90 degree of the resonant frequency under this resonance mode zooms into the sinusoidal high-voltage signal of phase difference 90 degree, drives supersonic motor 13 forward rotation, thereby accomplishes the locking of catch gear 10; If be unlock command; Square voltage pulse to the supersonic motor driving circuit 15 of then exporting two-way phase difference-90 degree of the resonant frequency under this resonance mode zooms into the sinusoidal high-voltage signal of phase difference-90 degree; Drive supersonic motor 13 backward rotation, thereby accomplish the release of catch gear 10.
Fig. 2 is dsp chip of the present invention, fpga chip circuit diagram, is the major control chip of DSP+FPGA numerical control device 17, accomplishes operations such as the control of DSP+FPGA numerical control device 17 and detections.Wherein dsp chip adopts TMS320C31; The main software section of being responsible for DSP+FPGA numerical control device 17, instruction parser 3, angle position ring controller 91, cireular frequency ring controller 92, current loop controller 93, locking are separated lock controller 16 and all in dsp chip, are adopted software programming to realize; Fpga chip adopts EPF10K30; Be responsible for hardware components in the DSP+FPGA numerical control device 17, be responsible for control CAN communicating circuit 2, frame motor power driving circuit 14, supersonic motor power driving circuit 15, rotating transformer exciting and shaft angle decoding circuit 6, magslip 8, current sensor 7, A/D sample circuit 4.
As shown in Figure 3, be framework controller 9 diagram of circuits of the present invention, framework controller 9 adopts software to realize; Accomplish framework torque motor three closed loops and add two feedforward computings; The at first given instruction in acceptance angle position, the digital signal that reads the position, angle is to carry out angle position ring proportional integral (PI) computing, and operational formula is C
Outs=Kp
s* (θ
g-θ
G1-θ
f+ θ
F1)+Ki
s* (θ
g-θ
f)+C
Outs1, C wherein
OutsBe the computing output of angle position ring controller, C
Outs1Be the computing output of last angle position ring controller, θ
gBe the given instruction of angle position ring, θ
G1Be the given instruction of position, last angle, θ
fBe the digital signal of position, angle, θ
F1Be the digital signal of position, last angle, Kp
sBe the proportionality coefficient of angle position ring controller, Ki
sIntegral coefficient for the angle position ring controller; Secondly the operation result of output angle position ring controller reads the digital signal and the cireular frequency feedforward of cireular frequency and instructs to carry out the integral differential operation of cireular frequency chain rate example, and operational formula is C
Outv=Kp
v* (C
Outs-C
Outs1+ v
q-v
Q1-v
f+ v
F1)+Ki
v* (C
Outs+ v
q-v
f)+C
Outv1+ Kd
v* (C
Outs-2C
Outs1+ C
Outs2+ v
q-2v
Q1+ v
Q2-v
f+ 2v
F1-v
F2), C wherein
OutvBe the computing output of cireular frequency ring controller, C
Outv1Be the computing output of last cireular frequency ring controller, C
Outs2Be the computing output of last angle position ring controller again, v
qBe cireular frequency feedforward instruction, v
Q1Be last cireular frequency feedforward instruction, v
Q2Be last cireular frequency feedforward instruction again, v
fBe the digital signal of cireular frequency, v
F1Be the digital signal of last cireular frequency, v
F2Be the digital signal of last cireular frequency again, Kp
vBe the proportionality coefficient of cireular frequency ring controller, Ki
vIntegral coefficient for the cireular frequency ring controller; The operation result of output angle speed ring controller once more, digital signal and the current feed-forward instruction of reading phase current are to carry out the electric current loop scale operation, and operational formula is C
Outi=Kp
i* (C
Outv-C
Outv1+ i
q-i
Q1-i
f+ i
F1), C wherein
OutiComputing output for electric current loop is the PWM dutyfactor value, i
qBe current feed-forward instruction, i
Q1Be last current feed-forward instruction, i
fBe the digital signal of electric current, i
F1Digital signal for last electric current.
As shown in Figure 4, for CAN communicating circuit figure of the present invention, mainly form by crystal oscillator, SJA1000 and PCA82C250.Wherein spaceborne computer links to each other with SJA1000 through PCA82C250; SJA1000 links to each other with fpga chip; Crystal oscillator links to each other with SJA1000, and for SJA1000 provides work clock, SJA1000 is the CAN communications manager; Be responsible for functions such as data transfer, baud rate setting, Working mode set, shielding and verification, interruption in the CAN communication, PCA82C250 is a CAN communication interface device.
As shown in Figure 5; Be instruction parser 3 schematic diagrams of the present invention; The angle position command is through obtaining containing the angular velocity information of the above high frequency noise of a large amount of 100Hz after the backward difference, low-pass filter is removed high frequency noise, and the cireular frequency connecting rod straightener adopts cascade compensation; Control desired amplitude remaining, phase angle remaining and cutoff frequency according to system and carry out leading or correction or lag, to obtain suitable cireular frequency feedforward instruction; The angle position command can obtain angular acceleration feedforward instruction after through twice backward difference and low-pass filter, and acceleration/accel to current correction device carries out cascade compensation with angular acceleration feedforward instruction, and according to the conversion formula K of angular acceleration β and electric current I
i* I-T
l=J β obtains current feed-forward instruction, wherein K
iBe electromagnetic torque coefficient, T
lBe load moment, J is a rotor inertia.
As shown in Figure 6; Figure for rotating transformer exciting of the present invention and shaft angle decoding circuit 6; Mainly form by rotating transformer exciting circuit and shaft angle decoding chip; Wherein rotating transformer exciting circuit is exported the input winding of excitation power supply to magslip, and the output winding of magslip links to each other with the shaft angle decoding chip.Rotating transformer exciting circuit is made up of crystal oscillator, low-pass filter, big electric current amplifier; Wherein crystal oscillator produces original excited signal to two-way low-pass filter and carries out LPF, and low-pass filter exports big electric current amplifier to carry out electric current and amplify to satisfy the requirement capability of magslip electric current.The shaft angle decoding chip adopts AD2S80, links to each other with the output winding of magslip, and the analog signal of the digital signal of output angle position to framework controller 9 and cireular frequency is to A/D sample circuit 4.
As shown in Figure 7, middle frame power of motor driving circuit 14 of the present invention mainly is made up of chip for driving and three phase inverter bridge, and chip for driving is exported 6 the road and driven PWM to three phase inverter bridge.Chip for driving adopts IR2110; Three phase inverter bridge uses 6 IRF540 to build, and 3 IR2110 export the drive signal that 6 road pwm pulses of FPGA output are converted into three phase inverter bridge to 6 IRF540 respectively, and wherein every IR2110 drives two IRF540 up and down of a bridge of three phase inverter bridge; Three phase inverter bridge export the three phase electric machine winding to; In addition, IR2110 also has the shutdown pin, draws high the output that this pin can be closed IR2110; Thereby close framework power of motor driving circuit, power electricity, emergency power off, fault play an important role in resetting in time-delay.
As shown in Figure 8, be current sensor 7 circuit of the present invention, mainly form by current sensor chip and follow-up simulated modulation circuit.The current sensor chip adopts HBC001S/JN01, is output as the voltage analog signal of size of current, good linearity, and precision is high, and response is fast.Follow-up simulated modulation circuit is made up of reduction voltage circuit and low-pass filter circuit; Reduction voltage circuit voltage analog signal that current sensor chip output is big is reduced to-4V～4V from-12V～12V; To satisfy the input voltage requirement of A/D sample circuit-5V～5V; Low-pass filter circuit adopts two rank voltage controlled voltage source low-pass filters; Cutoff frequency to eliminate the interference of three phase inverter bridge power circuit to current analog signal, improves the signal to noise ratio of feedback current signal between effective frequency twice and PWM carrier frequency.
As shown in Figure 9, for lock controller 16 diagram of circuits are separated in locking of the present invention, locking is separated lock controller and is adopted software to realize; At first read temperature, longitudinal travel value; Relation data form according to the supersonic motor resonant frequency of being surveyed and temperature, longitudinal travel is chosen resonant frequency, secondly receives locking, unlock command, reads locking micro-switch, release micro-switch state; If locking instruction and locking micro-switch are not locked; The square voltage pulse of then exporting two-way phase difference 90 degree makes the supersonic motor forward rotation accomplish locking, if the locking micro-switch is locked, then carries out flow process again; If unlock command and the not release of release micro-switch, the square voltage pulse of then exporting two-way phase difference-90 degree makes the supersonic motor backward rotation accomplish release, if flow process is then carried out in the release of release micro-switch again.
Shown in figure 10, supersonic motor power driving circuit 15 of the present invention is made up of chip for driving IR2110, pulse transformer, power tube IRF540.IR2110 becomes the pwm pulse of FPGA output the drive pulse of IRF540; IRF540 is connected on the input winding of pulse transformer; Through the alternately break-make of two IRF540 certain frequencies up and down; The alternating-current voltage/AC voltage that makes a same frequency of pulse transformer output and boosted, two groups of supersonic motor power driving circuits 15 drive the stator winding and the armature loop of supersonic motor respectively, can realize that through the phase difference of change stator winding and armature loop pulse the rotating of supersonic motor is controlled.
Figure 11 is temperature of the present invention and shaft position sensor circuit diagram, and wherein the left side is a temperature sensor circuit, by RTD R and divider resistance R
_ testForm, RTD adopts pt100, and the resistance value of pt100 is with temperature traverse, then the AD_t voltage V of ordering
AD_tChange, relational expression is:
Wherein, Vcc is a probe power, and voltage is+12V that R is a pt100 resistance, R
TestBe divider resistance, resistance is 400 ohm.According to voltage V
AD_tValue can obtain the resistance value of pt100 and then obtain the temperature value of supersonic motor.The right side is a supersonic motor shaft position sensor circuit; Mainly by oscillating circuit; Detecting circuit, modulate circuit is formed, and wherein oscillating circuit produces high frequency pure oscillation signal on inductance probe Lz; Longitudinal travel between the size of oscillator signal amplitude and inductance probe Lz and the supersonic motor axle is linear, and the amplitude that detecting circuit detects oscillator signal obtains and the linear voltage signal AD_s of supersonic motor longitudinal travel value through modulate circuit.
Figure 12 is a catch gear scheme drawing of the present invention, and catch gear 10 is made up of elastic pressuring plate, hauling rope, and elastic pressuring plate links to each other with supersonic motor through hauling rope.When CAN communicating circuit 2 sends the locking instruction; Square voltage pulse to the supersonic motor driving circuit 15 that lock controller 16 output two-way phase differences 90 degree are separated in locking zooms into sinusoidal high-voltage signal driving supersonic motor 13 forward rotation tension hauling rope; Force elastic pressuring plate generation elastic deformation to press to magnetic suspension rotor; When compressing fully, locking micro-switch output low level is separated lock controller 16 to locking, makes it stop the output voltage pulse and stops supersonic motor 13 rotations.When CAN communicating circuit 2 sends unlock command; Square voltage pulse to the supersonic motor driving circuit 15 that lock controller 16 output two-way phase differences-90 degree is separated in locking zooms into sinusoidal high-voltage signal and drives supersonic motor 13 backward rotation and unclamp hauling rope; Elastic pressuring plate resiles gradually and unclamps magnetic suspension rotor; When being totally released, lock controller 16 is separated in release micro-switch output low level to locking, makes it stop the output voltage pulse and makes supersonic motor 13 stalls.
The present invention can be used as a kind of general-duty magnetic levitation control moment gyroscope frame and the platform of locking control system high precision, fast-response, highly reliable control; Sufficient hardware resource and abundant control program is provided, and application person can revise software according to its application and come to realize flexibly and easily function.
Claims (3)
1. magnetic levitation control moment gyroscope frame and locking control system is characterized in that comprising: framework torque motor (12), supersonic motor (13), catch gear (10), lock sensor circuit (11), DSP+FPGA numerical control device (17); Said DSP+FPGA numerical control device (17) comprises CAN communicating circuit (2), instruction parser (3), framework controller (9), locks and separate lock controller (16), frame motor power driving circuit (14), supersonic motor power driving circuit (15) and frame motor sensor circuit (5); Said frame motor sensor circuit (5) comprises rotating transformer exciting and shaft angle decoding circuit (6), magslip (8), current sensor (7) and A/D sample circuit (4); Said framework controller (9) comprises angle position ring controller (91), cireular frequency ring controller (92) and current loop controller (93); Spaceborne computer (1) is separated lock controller (16) through CAN communicating circuit (2) to framework controller (9) and locking and is transmitted the given command signal in position, angle and locking, unlock command signal; Position, angle given command signal input instruction resolver (3) obtains cireular frequency feedforward command signal and current feed-forward command signal; Rotating transformer exciting and shaft angle decoding circuit (6) provide excitation power supply for magslip (8); Framework torque motor (12) driven rotary voltage transformer (8) rotates together; Analog voltage signal to rotating transformer exciting and shaft angle decoding circuit (6) that magslip (8) output four tunnel is relevant with framework torque motor (12) position, angle; Rotating transformer exciting and shaft angle decoding circuit (6) carry out the shaft angle decoding to four the tunnel with the relevant analog voltage signal in framework torque motor (12) position, angle; The digital signal of output framework torque motor (12) position, angle and the analog signal of cireular frequency; The phase current analog signal of current sensor (7) output framework torque motor (12), the analog signal of cireular frequency and the analog signal of phase current convert the digital signal of cireular frequency and the digital signal of phase current to through A/D sample circuit (4); The digital signal of given command signal in position, angle and position, angle is subtracted each other and is inputed to angle position ring controller (91) and control computing; The digital signal of the output signal of angle position ring controller (91) and cireular frequency feedforward command signal sum and cireular frequency is subtracted each other and is inputed to cireular frequency ring controller (92) and control computing; The output signal of cireular frequency ring controller (92) and the digital signal of current feed-forward command signal sum and phase current are subtracted each other and are inputed to current loop controller (93) and control computing; The controlling quantity of current loop controller (93) output is the dutyfactor value of pwm pulse; Current loop controller (93) output pwm pulse to frame motor power driving circuit (14), frame motor power driving circuit (14) amplify, are reverse into ac voltage signal drive frame booster torque motor (12) to pwm pulse and rotate; Lock sensor circuit (11) detects catch gear (10) and supersonic motor (13); Lock controller (16) is separated in voltage signal to the locking of output catch gear state, temperature and longitudinal travel; Locking is separated lock controller (16) output catch gear state to CAN communicating circuit (2); And confirm the resonance mode of supersonic motor (13) according to temperature and longitudinal travel; Locking is separated lock controller (16) and locking, the unlock command of CAN communicating circuit (2) input is judged if be the locking instruction, square voltage pulse to the supersonic motor driving circuit (15) of then exporting two-way phase difference 90 degree of the resonant frequency under this resonance mode zooms into the sinusoidal high-voltage signal of phase difference 90 degree; Drive supersonic motor (13) forward rotation, thereby accomplish the locking of catch gear (10); If be unlock command; Square voltage pulse to the supersonic motor driving circuit (15) of then exporting two-way phase difference-90 degree of the resonant frequency under this resonance mode zooms into the sinusoidal high-voltage signal of phase difference-90 degree; Drive supersonic motor (13) backward rotation, thereby accomplish the release of catch gear (10).
2. magnetic levitation control moment gyroscope frame according to claim 1 and locking control system, it is characterized in that: said instruction parser (3) is made up of backward difference, low-pass filter, cireular frequency connecting rod straightener and acceleration/accel current correction device; The given command signal in position, angle is through obtaining containing the angular velocity information of a large amount of high frequency noises after the backward difference; Low-pass filter is removed high frequency noise; The cireular frequency connecting rod straightener adopts cascade compensation; Control desired amplitude remaining, phase angle remaining and cutoff frequency according to system and carry out leading or correction or lag, to obtain suitable cireular frequency feedforward command signal; The given command signal in position, angle can obtain angular acceleration feedforward instruction after through twice backward difference and low-pass filter, and acceleration/accel current correction device carries out cascade compensation with angular acceleration feedforward instruction, and according to the conversion formula K of angular acceleration β and electric current I
i* I-T
l=J β obtains current feed-forward instruction, wherein K
iBe electromagnetic torque coefficient, T
lBe load moment, J is a rotor inertia; Because the use of cireular frequency feedforward and current feed-forward has improved the speed of response of framework torque motor (12).
3. magnetic levitation control moment gyroscope frame according to claim 1 and locking control system, it is characterized in that: said catch gear (10) is made up of elastic pressuring plate, hauling rope, and elastic pressuring plate links to each other with supersonic motor (13) through hauling rope; When lock sensor circuit (11) is formed CAN communicating circuit (2) transmission locking instruction by locking micro-switch, release micro-switch, temperature and shaft position sensor; Square voltage pulse to the supersonic motor driving circuit (15) that lock controller (16) output two-way phase difference 90 degree are separated in locking zooms into sinusoidal high-voltage signal driving supersonic motor (13) forward rotation tension hauling rope; Force elastic pressuring plate generation elastic deformation to press to magnetic suspension rotor; When compressing fully; Lock controller (16) is separated in locking micro-switch output low level to locking, makes locking separate lock controller (16) and stops the output voltage pulse and stop supersonic motor (13) and rotate; When CAN communicating circuit (2) sends unlock command; Square voltage pulse to the supersonic motor driving circuit (15) that lock controller (16) output two-way phase difference-90 degree is separated in locking zooms into sinusoidal high-voltage signal and drives supersonic motor (13) backward rotation and unclamp hauling rope; Elastic pressuring plate resiles gradually and unclamps magnetic suspension rotor; When being totally released; Lock controller (16) is separated in release micro-switch output low level to locking; Make locking separate lock controller (16) and stop the output voltage pulse and make supersonic motor (13) stall, supersonic motor (13) thus can produce a large amount of heats when rotating in a vacuum rises its temperature its resonant frequency is squinted, and the variation of supersonic motor (13) axle pressure also can make its resonant frequency squint; If resonant frequency is not controlled, the situation of stall even breaking-up may appear in supersonic motor (13); The temperature of temperature and shaft position sensor output ultrasonic wave motor and longitudinal travel value; According to the variation relation of the ultrasonic resonator frequency values of being surveyed with temperature and longitudinal travel value; Select cooresponding resonant frequency; Make supersonic motor (13) smooth running, improved the reliability of catch gear (10).
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| CN2010105352511A CN102009597B (en) | 2010-11-03 | 2010-11-03 | Magnetically suspended control moment gyro gimbal and locking control system |
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| CN2010105352511A CN102009597B (en) | 2010-11-03 | 2010-11-03 | Magnetically suspended control moment gyro gimbal and locking control system |
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