CN104898454A - Space optical payload force disturbance simulation source actuator force control method - Google Patents
Space optical payload force disturbance simulation source actuator force control method Download PDFInfo
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Abstract
The invention discloses a space optical payload force disturbance simulation source actuator force control method, which belongs to the technical field of testing adaptability to a space platform micro vibration environment of a space optical payload, so as to solve the problem that a space six-degree of freedom micro vibration type can not be effectively and quantitatively simulated in the prior art. The method comprises the following steps: 1, input and output parameters of a control object are made clear; 2, a sensor type and technical indexes of the control system are determined; 3, a current control loop 13 of the control object is built and control parameters are determined; 4, a current loop-based control object force feedback control loop 15 is realized; 5, control parameters of the force feedback control loop are determined; and 6, bandwidth test on the control system is realized. The space optical payload force disturbance simulation source actuator force control problem can be solved, and the method realizes control on the inertia force borne by the disturbance platform connected with the rotor end of the actuator within a 30Hz to 200Hz frequency range.
Description
Technical field
A kind of space optics useful load force-disturbance dummy source actuator force control method that the present invention relates to, belongs to space optics useful load to space platform micro-vibration environment adaptive testing technical field.
Background technology
Space optics useful load is mounted in special imaging device satellite being used for obtaining interesting target optical information.Under same application condition, in order to obtain high-quality, high-resolution image, volume, the clear aperture of optics load are increasing, require also more and more higher to micro-vibration environment of the satellite platform residing for it simultaneously.Satellite platform causes because mechanism kinematic, solar array are cold and hot tremble, the factor such as moment gyro disturbance causes the satellite platform environment residing for optics useful load to be micro-vibration, the micro-vibration of this platform has become the key factor of restriction high resolution space useful load image quality.
The micro-vibration source of traditional satellite platform utilizes flywheel, gyro to simulate, and this simulation exists vibration amplitude, frequency adjustment difficulty and can not micro-vibration form of effective quantitative simulation space six-freedom degree.Can belong to a technological gap towards the ground validation test method of the micro-vibration of the whole device of remote sensor at present, corresponding six degree of freedom force-disturbance dummy source actuator control method is also urgently to be resolved hurrily.
Summary of the invention
The present invention can not the problem of effective micro-vibration form of quantitative simulation space six-freedom degree in order to solve prior art, propose a kind of space optics useful load force-disturbance dummy source actuator force control method, controlled the inertial force suffered by disturbance platform be connected with actuator mover end by force sensor signals.
The present invention wants technical solution problem scheme to be: space optics useful load force-disturbance dummy source actuator force control method, comprises the following steps:
The first step, specify the input/output argument of control object, the control inputs parameter of space optics useful load force-disturbance dummy source actuator 7 is voltage 8, output parameter has the current value 9 flowing through actuator winding and the electromagnetic force 10 acted on actuator mover, and the control objectives of system is the control realizing the inertial force suffered by disturbance platform be connected with actuator mover end in the bandwidth range of 30Hz ~ 200Hz;
Second step, determine sensor type and the technical indicator of control system, the sensor of space optics useful load force-disturbance dummy source actuator has dynamic force sensor 11 and current sensor 12, dynamic force sensor 11 range is ± 445N, sensitivity is 10.5mV/N, and analog to digital conversion figure place is 16, and frequency response range is 0.001Hz ~ 36kHz, current sensor 12 bandwidth 16kHz, current sensor 12 resolution 1mA;
3rd step, set up the current controlled circuit 13 of control object and determine controling parameters, the controling parameters of this loop is the current value 9 flowing through actuator winding, control variable is the magnitude of voltage 8 being carried in actuator winding two ends, feedback variable is the current value flowing through actuator winding of actual measurement, the controling parameters of the first controller 14 adopts parallel ratio and integration control, and ratio controling parameters setting value is 1000, and integration control setting parameter is 2000;
4th step, realize the force-feedback control loop 15 based on the control object of electric current loop, the inertial force of this closed loop control parameter suffered by the disturbance platform that is connected with actuator mover end, controlling electric current is the current value 9 flowing through actuator winding, and the dynamic force between actuator mover and disturbance platform is obtained by sensor 11;
5th step, the controling parameters of deterministic force feedback control loop, second controller 16 adoption rate controls, and ratio controling parameters is set as 0.04, and the control loop set-point adjusted and the ratio of output valve are 5:1;
6th step, control system bandwidth test, with the input signal that the sinusoidal signal 17 of 60N is control system, the dynamic force between actuator mover and disturbance platform is monitored by force snesor 11, in 21Hz ~ 260Hz frequency range, be one with 5Hz test step-length, the size of record actual measurement power and the phase relation with input test signal, if the difference of the size of power output and set-point is no more than 0.5N and phase differential is no more than π/8, then judge that the control system of design tuning meets request for utilization.
Good effect of the present invention: the invention solves space optics useful load force-disturbance dummy source actuator force control problem, the method achieve the control of the inertial force size suffered by disturbance platform be connected with actuator mover end in 30Hz ~ 200Hz frequency range.
Accompanying drawing explanation
Fig. 1 is the steps flow chart schematic diagram of space optics useful load force-disturbance dummy source actuator force control method of the present invention.
Fig. 2 is space optics useful load force-disturbance dummy source actuator force control method control block diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further details.
As shown in Figure 1, space optics useful load force-disturbance dummy source actuator force control method includes: the input/output argument 1 of clear and definite control object, determine sensor type and the technical indicator 2 of control system, set up the current controlled circuit of control object and determine controling parameters 3, realize the force-feedback control loop 4 based on the control object of electric current loop, the controling parameters 5 of deterministic force feedback control loop, control system bandwidth test 6.
Wherein, driver adopts Copley JSP-180-10, and controller adopts DSP28335, and current loop proportional integral parameter is arranged in JSP-180-10, force feedback proportion parameter is arranged in DSP28335, adopt serial ports RS-232 communication, Configuration of baud rate is 9600bps, and force feedback loop upgrades controlled frequency and is set to 10kHz, Current Control instruction adopts PWM mode, 100%PWM corresponding current instruction 8A, 50%PWM corresponding current instruction 0A, 0%PWM corresponding current instruction-8A.
As shown in Figure 2, method concrete steps of the present invention are:
The first step, specify the input/output argument of control object, the control inputs parameter of space optics useful load force-disturbance dummy source actuator 7 is voltage 8, output parameter has the current value 9 flowing through actuator winding and the electromagnetic force 10 acted on actuator mover, and the control objectives of system is the control realizing the inertial force suffered by disturbance platform be connected with actuator mover end in the bandwidth range of 30Hz ~ 200Hz.
Second step, determine sensor type and the technical indicator of control system, the sensor of space optics useful load force-disturbance dummy source actuator has dynamic force sensor 11 and current sensor 12, dynamic force sensor 11 range is ± 445N, sensitivity is 10.5mV/N, and analog to digital conversion figure place is 16, and frequency response range is 0.001Hz ~ 36kHz, current sensor 12 bandwidth 16kHz, current sensor 12 resolution 1mA.
3rd step, set up the current controlled circuit 13 of control object and determine controling parameters, the controling parameters of this loop is the current value 9 flowing through actuator winding, control variable is the magnitude of voltage 8 being carried in actuator winding two ends, feedback variable is the current value flowing through actuator winding of actual measurement, the controling parameters of the first controller 14 adopts parallel ratio and integration control, and ratio controling parameters setting value is 1000, and integration control setting parameter is 2000.
4th step, realize the force-feedback control loop 15 based on the control object of electric current loop, the inertial force of this closed loop control parameter suffered by the disturbance platform that is connected with actuator mover end, controlling electric current is the current value 9 flowing through actuator winding, and the dynamic force between actuator mover and disturbance platform is obtained by sensor 11.
5th step, the controling parameters of deterministic force feedback control loop, second controller 16 adoption rate controls, and ratio controling parameters is set as 0.04, and the control loop set-point adjusted and the ratio of output valve are 5:1.
6th step, control system bandwidth test, with the input signal that the sinusoidal signal 17 of 60N is control system, the dynamic force between actuator mover and disturbance platform is monitored by force snesor 11, in 21Hz ~ 260Hz frequency range, be one with 5Hz test step-length, the size of record actual measurement power and the phase relation with input test signal, if the difference of the size of power output and set-point is no more than 0.5N and phase differential is no more than π/8, then judge that the control system of design tuning meets request for utilization.
Claims (1)
1. space optics useful load force-disturbance dummy source actuator force control method, is characterized in that, comprise the following steps:
The first step, specify the input/output argument of control object, the control inputs parameter of space optics useful load force-disturbance dummy source actuator (7) is voltage (8), output parameter has the current value (9) flowing through actuator winding and the electromagnetic force (10) acted on actuator mover, and the control objectives of system is the control realizing the inertial force suffered by disturbance platform be connected with actuator mover end in the bandwidth range of 30Hz ~ 200Hz;
Second step, determine sensor type and the technical indicator of control system, the sensor of space optics useful load force-disturbance dummy source actuator has dynamic force sensor (11) and current sensor (12), dynamic force sensor (11) range is ± 445N, sensitivity is 10.5mV/N, analog to digital conversion figure place is 16, frequency response range is 0.001Hz ~ 36kHz, current sensor (12) bandwidth 16kHz, current sensor (12) resolution 1mA;
3rd step, set up the current controlled circuit (13) of control object and determine controling parameters, the controling parameters of this loop is the current value (9) flowing through actuator winding, control variable is the magnitude of voltage (8) being carried in actuator winding two ends, feedback variable is the current value flowing through actuator winding of actual measurement, the controling parameters of the first controller (14) adopts parallel ratio and integration control, ratio controling parameters setting value is 1000, and integration control setting parameter is 2000;
4th step, realize the force-feedback control loop (15) based on the control object of electric current loop, the inertial force of this closed loop control parameter suffered by the disturbance platform that is connected with actuator mover end, controlling electric current is the current value (9) flowing through actuator winding, and the dynamic force between actuator mover and disturbance platform is obtained by sensor (11);
5th step, the controling parameters of deterministic force feedback control loop, second controller (16) adoption rate controls, and ratio controling parameters is set as 0.04, and the control loop set-point adjusted and the ratio of output valve are 5:1; 6th step, control system bandwidth test, with the input signal that the sinusoidal signal of 60N (17) is control system, by the dynamic force between force snesor (11) monitoring actuator mover and disturbance platform, in 21Hz ~ 260Hz frequency range, be one with 5Hz test step-length, the size of record actual measurement power and the phase relation with input test signal, if the difference of the size of power output and set-point is no more than 0.5N and phase differential is no more than π/8, then judge that the control system of design tuning meets request for utilization.
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| CN106444603A (en) * | 2016-09-19 | 2017-02-22 | 天津航天瑞莱科技有限公司 | Closed-loop control system of aerodynamic force load |
| CN109656149A (en) * | 2018-12-10 | 2019-04-19 | 上海卫星装备研究所 | Satellite and the rocket Coupled Multibody System dynamics calculation test method and system |
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| CN106444603A (en) * | 2016-09-19 | 2017-02-22 | 天津航天瑞莱科技有限公司 | Closed-loop control system of aerodynamic force load |
| CN109656149A (en) * | 2018-12-10 | 2019-04-19 | 上海卫星装备研究所 | Satellite and the rocket Coupled Multibody System dynamics calculation test method and system |
| CN109656149B (en) * | 2018-12-10 | 2021-07-30 | 上海卫星装备研究所 | Satellite-rocket coupled multi-body system dynamics calculation test method and system |
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