CN104044756B - High integrated high precision control moment gyro group Servocontrol device - Google Patents
High integrated high precision control moment gyro group Servocontrol device Download PDFInfo
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- CN104044756B CN104044756B CN201410254945.6A CN201410254945A CN104044756B CN 104044756 B CN104044756 B CN 104044756B CN 201410254945 A CN201410254945 A CN 201410254945A CN 104044756 B CN104044756 B CN 104044756B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
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Abstract
High integrated high precision control moment gyro group Servocontrol device, be applied to satellite gravity anomaly actuating unit, this device passes through the frame corners position signal of two frame position Acquisition Circuit difference Real-time Collection two frame motors from controller FPGA, by the angular velocity signal of two hall signal Acquisition Circuit difference Real-time Collection two fly-wheel motors, and deliver to master controller DSP as respective speed feedback value by address/data/control bus; Master controller DSP gathers the current value of two frame motors, two fly-wheel motors, as respective current feedback values respectively by two U/V phase current Acquisition Circuit and two bus current Acquisition Circuit; Master controller DSP is according to respective speed, current feedback values, in conjunction with corresponding servo control algorithm, four cover motors are carried out to the dicyclo closed loop control of speed, electric current, produce PWM instruction, produce PWM from controller FPGA according to instruction, realize controlling four cover motor high-precision servos.
Description
Technical field
The present invention relates to a kind of high integrated high precision control moment gyro group Servocontrol device, for the servocontrol of two cover control moment gyroscopes, be applicable to high integration, high-precision middle-size and small-size quick satellite gravity anomaly actuating unit.
Background technology
Control moment gyroscope is as middle-size and small-size quick satellite gravity anomaly actuating unit, utilize its " moment amplification " feature, can under equal power consumption, volume and quality, export the moment several times in conventional flywheel, highly shortened the satellite time kept in reserve, realize repeatedly pushing away wide cut target in single track sweep, joining image-forming.Control moment gyroscope is successfully applied in WorldView-1/2 and Pleiades satellite, significantly enhances subhost kinetic force, improves the agility of satellite.
The servocontrol of control moment gyroscope comprises frame motor and the two-part servocontrol of fly-wheel motor, wherein frame motor servocontrol has Dynamic High-accuracy speed tracing characteristic for making frame mechanism, fly-wheel motor servocontrol has high precision steady-state speed characteristic for making flywheel rotor, keeps flywheel angular motion value constant as far as possible.The output torque of control moment gyroscope equals the cross product of frame corners velocity vector and flywheel angular-momentum vector, and namely the servocontrol of frame motor and fly-wheel motor directly determines control moment gyroscope output torque characteristic.
The servocontrol of control moment gyroscope is often divided into separately frame motor and fly-wheel motor servocontrol, namely frame motor, fly-wheel motor carry out servocontrol based on respective Circuits System, like this by the power consumption of the whole control moment gyroscope Fu of increase, volume, quality and expense, the integrated level of system is lower.
Summary of the invention
The present invention is directed to prior art Problems existing, the control moment gyroscope group Servocontrol device that a kind of high integration, high precision, volume are little, quality is light, low in energy consumption is provided, realize the servocontrol of two cover control moment gyroscopes, and extend at most the servocontrol of six cover control moment gyroscopes, be specially adapted to middle-size and small-size quick satellite gravity anomaly actuating unit.
Technical solution of the present invention: high integrated high precision control moment gyro group Servocontrol device, it is characterized in that, direct supply is connected with power panel, power panel comprises power transfer module I, power transfer module II and power transfer module III, provides power power-supply, analog power and digital power respectively to control desk and drive plate; The information of framework I coder and the transmission of framework II encoder accepts drive plate, generic frame I and framework II angle position information, then send to control desk;
Control desk comprise CAN interface, master controller DSP, from controller FPGA, framework I station acquisition circuit and framework II station acquisition circuit;
Drive plate comprises buffer circuit, frame motor I driving circuit, frame motor II driving circuit, fly-wheel motor I driving circuit, fly-wheel motor II driving circuit, frame motor I, frame motor II, fly-wheel motor I, fly-wheel motor II, hall signal Acquisition Circuit I, hall signal Acquisition Circuit II, U/V phase current Acquisition Circuit I, U/V phase current Acquisition Circuit II, bus current Acquisition Circuit I and bus current Acquisition Circuit II;
Master controller DSP is connected with CAN interface, real-time reception control moment gyroscope group's servo instruction or send the instantaneous value of the frame position of current control force square gyro group, frame corners speed, frame motor phase current, fly-wheel motor rotating speed and fly-wheel motor bus current;
The frame corners position signal of framework I station acquisition circuit and framework II station acquisition circuit difference Real-time Collection frame motor I and frame motor II is passed through from controller FPGA, by the angular velocity signal of hall signal Acquisition Circuit I and hall signal Acquisition Circuit II difference Real-time Collection fly-wheel motor I and fly-wheel motor II, and signal is delivered to master controller DSP as respective speed feedback value; Master controller DSP gathers the current value of frame motor I, frame motor II, fly-wheel motor I, fly-wheel motor II, as respective current feedback values respectively by U/V phase current Acquisition Circuit I, U/V phase current Acquisition Circuit II, bus current Acquisition Circuit I and bus current Acquisition Circuit II; Master controller DSP is according to respective speed, current feedback values, in conjunction with corresponding servo control algorithm, four cover motors are carried out to the dicyclo closed loop control of speed, electric current, produce PWM instruction, PWM is produced according to instruction from controller FPGA, realize controlling four cover motor high-precision servos, namely realize controlling the high-precision servo of two cover control moment gyroscopes;
Buffer circuit is used for the digital signal ground in isolated controlling plate and the Power Groud in drive plate, avoids digitally and mutual crosstalk between Power Groud;
Frame motor I driving circuit and frame motor II driving circuit completely the same, be respectively used to drive the frame motor I of low cruise and frame motor II;
Fly-wheel motor I driving circuit and fly-wheel motor II driving circuit completely the same, be respectively used to drive the fly-wheel motor I of high-speed cruising and fly-wheel motor II.
Principle of the present invention is: by U/V phase current Acquisition Circuit, the phase current of frame codes device Real-time Obtaining frame motor, magnitude of angular velocity, by bus current Acquisition Circuit, the bus current of hall signal Acquisition Circuit Real-time Obtaining fly-wheel motor, magnitude of angular velocity, and these values of feedback are delivered in master controller DSP, run two cover frame mechanisms, the servo control algorithm of two cover flywheels, produce four road PWM instructions, PWM waveform needed for No. four motors is produced according to PWM parallel instructions from controller FPGA, through buffer circuit, driving circuit generates two cover frame motors, the control electric current of two covers needed for fly-wheel motor, thus realize controlling the high-precision servo of two cover control moment gyroscopes.
The invention has the beneficial effects as follows:
(1) the present invention makes full use of master controller DSP and has high-speed cruising floating number ability, has multidiameter delay service requirement from controller FPGA, be integrated in master controller DSP by two cover frame mechanisms and two cover flywheel servo control algorithm, PWM waveform is produced and is integrated into from controller FPGA; Two cover frame mechanisms and two cover flywheel common source plates, be used alone respective driving circuit.
(2) the present invention can extend at most the control moment gyroscope group Servocontrol device of six cover control moment gyroscope compositions, and in meeting, small satellite is to the operating needs of control moment gyroscope group under different configuration.
Accompanying drawing explanation
Fig. 1 is the high integrated high precision control moment gyro group Servocontrol device structured flowchart of the present invention.
Fig. 2 is the servocontrol block diagram of the high integrated high precision control moment gyro group Servocontrol device of the present invention.
Detailed description of the invention
As shown in Figure 1 and Figure 2, high integrated high precision control moment gyro group Servocontrol device, is made up of control desk 1, drive plate 2, power panel 3, direct supply 4, framework I coder 5 and framework 2 coder 6.
Direct supply 4 is connected with power panel 3, and power panel 3 comprises power transfer module I27, power transfer module II28 and power transfer module III29, provides power power-supply, analog power and digital power respectively to control desk 1 and drive plate 2; Framework I coder 5 and framework II coder 6 receive the information that drive plate 2 transmits, generic frame I and framework II angle position information, then send to control desk 1.After access direct supply 4, power panel 3 provides power power-supply+28V (PGND), analog power ± 12V (AGND) and digital power+5V (DGND) to control desk 1, drive plate 2.
Control desk 1 comprise CAN interface 7, master controller DSP8, from controller FPGA9, framework I station acquisition circuit 11 and framework II station acquisition circuit 10.
Drive plate 2 comprises buffer circuit 12, frame motor I driving circuit 13, frame motor II driving circuit 16, fly-wheel motor I driving circuit 19, fly-wheel motor II driving circuit 23, frame motor I14, frame motor II17, fly-wheel motor I20, fly-wheel motor II24, hall signal Acquisition Circuit I22, hall signal Acquisition Circuit II26, U/V phase current Acquisition Circuit I15, U/V phase current Acquisition Circuit II18, bus current Acquisition Circuit I21 and bus current Acquisition Circuit II25.
Master controller DSP8 is connected with CAN interface 7, real-time reception control moment gyroscope group's servo instruction or send the instantaneous value of the frame position of current control force square gyro group, frame corners speed, frame motor phase current, fly-wheel motor rotating speed and fly-wheel motor bus current.
The frame corners position signal of framework I station acquisition circuit 11 and framework II station acquisition circuit 10 difference Real-time Collection frame motor I14 and frame motor II17 is passed through from controller FPGA9, by the angular velocity signal of hall signal Acquisition Circuit I22 and hall signal Acquisition Circuit II26 difference Real-time Collection fly-wheel motor I20 and fly-wheel motor II24, and signal is delivered to master controller DSP8 as respective speed feedback value; Master controller DSP8 gathers the current value of frame motor I14, frame motor II17, fly-wheel motor I20, fly-wheel motor II24, as respective current feedback values respectively by U/V phase current Acquisition Circuit I15, U/V phase current Acquisition Circuit II18, bus current Acquisition Circuit I21 and bus current Acquisition Circuit II25; Master controller DSP8 is according to respective speed, current feedback values, in conjunction with corresponding servo control algorithm, four cover motors are carried out to the dicyclo closed loop control of speed, electric current, produce PWM instruction, PWM is produced according to instruction from controller FPGA, realize controlling four cover motor high-precision servos, namely realize controlling the high-precision servo of two cover control moment gyroscopes.
Buffer circuit 12 for the digital signal in isolated controlling plate 1 with the Power Groud in drive plate 2, avoid digitally and mutual crosstalk between Power Groud.
Frame motor I driving circuit 13 is completely the same with frame motor II driving circuit 16, is respectively used to the frame motor I14 and the frame motor II17 that drive low cruise.Frame motor I driving circuit 13 is made up of three-phase H Qiao He six road NMOS driving circuit, and wherein single-phase bridge is in series by upper brachium pontis NMOS and lower brachium pontis NMOS.
Fly-wheel motor I driving circuit 19 is completely the same with fly-wheel motor II driving circuit 23, is respectively used to the fly-wheel motor I20 and the fly-wheel motor II24 that drive high-speed cruising.Fly-wheel motor I driving circuit 19 is by three-phase H bridge, six road NMOS driving circuits and let out and can form by passage, and wherein single-phase bridge is in series by upper brachium pontis NMOS and lower brachium pontis NMOS, lets out and can provide fault offset passage for fly-wheel motor I20 in brake snub process by passage.
Real-time servo controls the control moment gyroscope group that two cover control moment gyroscopes form, separate unit cover control moment gyroscope actuating device comprises separately frame motor I driving circuit 13, fly-wheel motor I driving circuit 19, frame motor I14, fly-wheel motor I20, U/V phase current Acquisition Circuit I15, bus current Acquisition Circuit I21, hall signal Acquisition Circuit I22, framework I coder 5, framework I station acquisition circuit 11, common source plate 3, master controller DSP8, from controller FPGA9, CAN interface 7 and direct supply 4; This device can be extended at most six control moment gyroscope groups overlapping control moment gyroscopes and form according to master controller DSP8 with from the resource of controller FPGA9.
Master controller DSP8 adopts a slice TMS320F28XXX family chip as treater, possesses high-speed cruising floating number ability, adopt a slice VirtexII or more family chip as treater from controller FPGA9, possess multidiameter delay service requirement, the high-precision servo realizing control moment gyroscope group controls.
Embodiment:
The present invention can carry out high-precision servo control to two cover control moment gyroscopes simultaneously, master controller DSP8 receives control moment gyroscope group servo instruction by CAN interface 7, comprise frame motor I14, fly-wheel motor I20, frame motor II17 and fly-wheel motor II24 servo instruction, and the servo programe of trigging control moment gyro group.
For separate unit cover control moment gyroscope servocontrol, utilize U phase, the V phase current of U/V phase current Acquisition Circuit I15 Real-time Obtaining frame motor I14, after coordinate transform, obtain d/q shaft current value i
q1, i
d1, utilize the framework I position θ of framework I station acquisition circuit 11 Real-time Obtaining frame motor I14
1, calculate cireular frequency G ω further
m1, master controller DSP8 expects rotating speed according to frame motor I14
with feedback tachometer value G ω
m1, control to obtain d/q axle through speed ring and expect current value
control to obtain being applied to frame motor I14d/q shaft voltage value u through d/q shaft current ring
q1, u
d1, after coordinate transform, SVPWM algorithm, obtain PWM instruction, produce PWM waveform from controller FPGA9 according to PWM instruction, produce required control electric current through buffer circuit 12, frame motor I driving circuit 13; Meanwhile, the bus current i of bus current Acquisition Circuit I21 Real-time Obtaining fly-wheel motor I20 is utilized
1, utilize hall signal Acquisition Circuit I22 Real-time Obtaining three-phase hall signal Hu, Hv, Hw, calculate cireular frequency F ω further
m1, master controller DSP8 expects rotating speed according to fly-wheel motor I20
with feedback tachometer value F ω
m1, obtain expecting current value through speed ring controller
obtain being applied to fly-wheel motor I20 magnitude of voltage through current loop controller
after Hall commutation algorithm, obtain PWM instruction, produce PWM waveform from controller FPGA9 according to PWM instruction, produce required control electric current through buffer circuit 12, fly-wheel motor I driving circuit 19; Master controller DSP8, by CAN interface 7, sends the instantaneous value of current frame position, frame corners speed, frame motor phase current, fly-wheel motor rotating speed and fly-wheel motor bus current, in real time the servocontrol state of monitoring control moment gyroscope.
Claims (5)
1. high integrated high precision control moment gyro group Servocontrol device, is characterized in that,
Direct supply (4) is connected with power panel (3), power panel (3) comprises power transfer module I (27), power transfer module II (28) and power transfer module III (29), provides power power-supply, analog power and digital power respectively to control desk (1) and drive plate (2); Framework I coder (5) and framework II coder (6) receive the information that drive plate (2) transmits, generic frame I and framework II angle position information, then send to control desk (1);
Control desk (1) comprise CAN interface (7), master controller DSP (8), from controller FPGA (9), framework I station acquisition circuit (11) and framework II station acquisition circuit (10);
Drive plate (2) comprises buffer circuit (12), frame motor I driving circuit (13), frame motor II driving circuit (16), fly-wheel motor I driving circuit (19), fly-wheel motor II driving circuit (23), frame motor I (14), frame motor II (17), fly-wheel motor I (20), fly-wheel motor II (24), hall signal Acquisition Circuit I (22), hall signal Acquisition Circuit II (26), U/V phase current Acquisition Circuit I (15), U/V phase current Acquisition Circuit II (18), bus current Acquisition Circuit I (21) and bus current Acquisition Circuit II (25),
Master controller DSP (8) is connected with CAN interface (7), real-time reception control moment gyroscope group's servo instruction or send the instantaneous value of the frame position of current control force square gyro group, frame corners speed, frame motor phase current, fly-wheel motor rotating speed and fly-wheel motor bus current;
Distinguished the frame corners position signal of Real-time Collection frame motor I (14) and frame motor II (17) by framework I station acquisition circuit (11) and framework II station acquisition circuit (10) from controller FPGA (9), by the angular velocity signal of hall signal Acquisition Circuit I (22) and hall signal Acquisition Circuit II (26) difference Real-time Collection fly-wheel motor I (20) and fly-wheel motor II (24), and signal is delivered to master controller DSP (8) as respective speed feedback value; Master controller DSP (8) gathers the current value of frame motor I (14), frame motor II (17), fly-wheel motor I (20), fly-wheel motor II (24), as respective current feedback values respectively by U/V phase current Acquisition Circuit I (15), U/V phase current Acquisition Circuit II (18), bus current Acquisition Circuit I (21) and bus current Acquisition Circuit II (25); Master controller DSP (8) is according to respective speed, current feedback values, in conjunction with corresponding servo control algorithm, four cover motors are carried out to the dicyclo closed loop control of speed, electric current, produce PWM instruction, PWM is produced according to instruction from controller FPGA, realize controlling four cover motor high-precision servos, namely realize controlling the high-precision servo of two cover control moment gyroscopes;
Buffer circuit (12), for the digital signal ground in isolated controlling plate (1) and the Power Groud in drive plate (2), is avoided digitally and mutual crosstalk between Power Groud;
Frame motor I driving circuit (13) is completely the same with frame motor II driving circuit (16), is respectively used to the frame motor I (14) and the frame motor II (17) that drive low cruise;
Fly-wheel motor I driving circuit (19) is completely the same with fly-wheel motor II driving circuit (23), is respectively used to the fly-wheel motor I (20) and the fly-wheel motor II (24) that drive high-speed cruising.
2. height according to claim 1 integrated high precision control moment gyro group Servocontrol device, it is characterized in that, real-time servo controls the control moment gyroscope group that two cover control moment gyroscopes form, separate unit cover control moment gyroscope actuating device comprises separately frame motor I driving circuit (13), fly-wheel motor I driving circuit (19), frame motor I (14), fly-wheel motor I (20), U/V phase current Acquisition Circuit I (15), bus current Acquisition Circuit I (21), hall signal Acquisition Circuit I (22), framework I coder (5), framework I station acquisition circuit (11), power panel (3), master controller DSP (8), from controller FPGA (9), CAN interface (7) and direct supply (4), this device can be extended at most six control moment gyroscope groups overlapping control moment gyroscopes and form according to master controller DSP (8) with from the resource of controller FPGA (9).
3. height according to claim 1 integrated high precision control moment gyro group Servocontrol device, it is characterized in that, master controller DSP (8) adopts a slice TMS320F28XXX family chip as treater, possesses high-speed cruising floating number ability, adopt a slice VirtexII or more family chip as treater from controller FPGA (9), possess multidiameter delay service requirement, the high-precision servo realizing control moment gyroscope group controls.
4. height according to claim 1 integrated high precision control moment gyro group Servocontrol device, is characterized in that, frame motor I driving circuit (13) is made up of three-phase H Qiao He six road NMOS driving circuit.
5. height according to claim 1 integrated high precision control moment gyro group Servocontrol device, it is characterized in that, fly-wheel motor I driving circuit (19) is by three-phase H bridge, six road NMOS driving circuits and let out and can form by passage, and letting out passage to be that fly-wheel motor I (20) provides fault offset passage in brake snub process.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410254945.6A CN104044756B (en) | 2014-06-09 | 2014-06-09 | High integrated high precision control moment gyro group Servocontrol device |
| PCT/CN2014/001074 WO2015188294A1 (en) | 2014-06-09 | 2014-12-01 | High-integration high-precision servo control device for controlling moment gyros |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410254945.6A CN104044756B (en) | 2014-06-09 | 2014-06-09 | High integrated high precision control moment gyro group Servocontrol device |
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| Publication Number | Publication Date |
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| CN104044756A CN104044756A (en) | 2014-09-17 |
| CN104044756B true CN104044756B (en) | 2016-04-27 |
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| CN201410254945.6A Expired - Fee Related CN104044756B (en) | 2014-06-09 | 2014-06-09 | High integrated high precision control moment gyro group Servocontrol device |
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| CN (1) | CN104044756B (en) |
| WO (1) | WO2015188294A1 (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104044756B (en) * | 2014-06-09 | 2016-04-27 | 中国科学院长春光学精密机械与物理研究所 | High integrated high precision control moment gyro group Servocontrol device |
| CN105607698B (en) * | 2015-12-17 | 2019-01-04 | 哈尔滨工业大学 | A kind of board computer system Design Method |
| CN107786132A (en) * | 2016-08-25 | 2018-03-09 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of high speed, high-precision servo control system for high power density motor |
| CN108594267A (en) * | 2018-04-28 | 2018-09-28 | 中国科学院长春光学精密机械与物理研究所 | The design method of highly integrated integration microsatellite attitude control signal processing unit |
| CN108983672B (en) * | 2018-08-08 | 2020-06-23 | 中国科学院长春光学精密机械与物理研究所 | Control system applied to high-precision six-degree-of-freedom optical assembly adjusting mechanism |
| CN109375572A (en) * | 2018-11-14 | 2019-02-22 | 长光卫星技术有限公司 | A kind of moonlet flywheel control system and control method based on FPGA |
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| 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 |
| CN112650049B (en) * | 2019-10-11 | 2023-01-20 | 博世华域转向系统有限公司 | System and method for signal acquisition and control output of electric power steering motor |
| CN111367304B (en) * | 2020-02-25 | 2023-07-14 | 上海航天控制技术研究所 | Actuating mechanism configuration and use method based on dual heterogeneous moment gyro group |
| CN111337007B (en) * | 2020-04-09 | 2021-08-10 | 北京控制工程研究所 | Control moment gyro frame zero position stable positioning system and method |
| CN112650311B (en) * | 2020-11-24 | 2022-09-13 | 上海航天控制技术研究所 | Control method for controlling outer frame rotating speed and position of moment gyroscope based on linear Hall |
| CN113148234B (en) * | 2021-04-07 | 2023-03-28 | 长光卫星技术股份有限公司 | Low-cost high-precision microsatellite reaction flywheel and control implementation method thereof |
| CN113589743B (en) * | 2021-08-23 | 2023-01-20 | 北京东土科技股份有限公司 | On-site bus system |
| CN113879566B (en) * | 2021-10-19 | 2023-08-01 | 北京控制工程研究所 | Self-adaptive compensation method for controlling high-frequency disturbance of moment gyro frame system |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104044756A (en) | 2014-09-17 |
| WO2015188294A1 (en) | 2015-12-17 |
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