CN106248075B - A kind of star sensor precise temperature control device and control method - Google Patents
A kind of star sensor precise temperature control device and control method Download PDFInfo
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- CN106248075B CN106248075B CN201610829757.0A CN201610829757A CN106248075B CN 106248075 B CN106248075 B CN 106248075B CN 201610829757 A CN201610829757 A CN 201610829757A CN 106248075 B CN106248075 B CN 106248075B
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D23/1919—Control of temperature characterised by the use of electric means characterised by the type of controller
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Abstract
The present invention relates to a kind of star sensor precise temperature control device and control methods, include: S1, instruction module export after parsing to command signal, and temperature collecting module acquires the operating temperature of star sensor detector in real time；S2, pid control module receive the command signal after operating temperature and parsing, carry out PID arithmetic by anti-fuse FPGA and export PID control amount；S3, current acquisition module acquire the operating current of refrigerator in real time, and export current anomaly signal；S4, PWM module receive PID control amount, carry out PWM operation by anti-fuse FPGA and export pulse-modulated signal to control refrigerator refrigeration, or according to current anomaly signal-off refrigerator, or according to the command signal control refrigerator switch after parsing.The present invention realizes the accurate control of the operating temperature for star sensor using anti-fuse FPGA, provides temperature for precision of star sensor and guarantees, meets the requirement of low-power consumption and high freezing capacity, improve the service life of star sensor.
Description
Technical field
The present invention relates to a kind of precise temperature control devices for star sensor and control method, in particular to one kind to adopt
The star sensor precise temperature control device and control method of repertoire are realized with anti-fuse FPGA, it is sensitive to star to realize
The precision temperature control of device detector belongs to star sensor precision temperature control technical field.
Background technique
Star sensor is a kind of high-precision spacecraft attitude measuring instrument, is mainly used for the survey of spacecraft three-axis attitude
Amount and spacecraft navigation, precision and working life play important work to the attitude measurement of spacecraft, control and reliability
With.Space environment temperature has a significant impact to the optical system imaging quality of star sensor.As star sensor detector works
The raising of temperature, dark current noise level rise quickly, if the long-term work of star sensor detector is in a higher temperature
Under degree, measurement accuracy and service life to star sensor are all adversely affected.If sensitive to star by whole star thermal control merely
Device temperature control, cost is larger, also brings certain difficulty to whole star layout, and be relatively inaccessible to the requirement of temperature-controlled precision.Therefore, high-precision
Degree, the star sensor of long-life are equipped with refrigerator, make the work of star sensor detector in a lower temperature, to improve
The signal-to-noise ratio of its photoelectric detecting system to eliminate dark current bring asterism center coordination error, and delays end of lifetime star quick
The decaying of sensor detector performance.
Conductor refrigeration is with refrigeration speed is fast, the temperature difference range is big, small in size, high reliability.Conductor refrigeration
It, can continuous work without any refrigerant.By the control of input current, it can be achieved that high-precision closed loop thermal controls.Partly lead
Body refrigeration is the active refrigeration technology that most suitable star sensor uses at present.
Active temperature control is carried out to star sensor detector using conductor refrigeration, is exactly by star sensor detector work
Make temperature with certain stable accuracy in a lower temperature.And use the controlling party of single constant pressure source or constant-current source
Formula realizes the cooling effect to star sensor detector by controlling the make-and-break time of power supply, can not achieve accurate temperature controlling, no
Only additional power loss is also unfavorable for that the best operating point of semiconductor cooler is arranged.
Based on above-mentioned, need the precise temperature control device and control method that propose a kind of star sensor at present, for pair
Star sensor detector carry out operating temperature accurate control, for precision of star sensor provide temperature guarantee, meet low-power consumption with
The requirement of high freezing capacity improves the service life of star sensor.
Summary of the invention
The object of the present invention is to provide a kind of star sensor precise temperature control device and control methods, using antifuse
FPGA realizes the accurate control of the operating temperature for star sensor, provides temperature for precision of star sensor and guarantees, meets low function
The requirement of consumption and high freezing capacity, improves the service life of star sensor.
To achieve the above object, the present invention provides a kind of star sensor precise temperature control device, includes: temperature acquisition mould
Block acquires in real time and exports the actual work temperature of star sensor detector；Current acquisition module acquires in real time and exports refrigeration
The real work electric current of device, whether monitoring electric current is abnormal, and exports current anomaly signal；Instruction module, to what is received
Command signal exports after being parsed；Pid control module is connect with temperature collecting module and instruction module respectively, receives star
The actual work temperature and the command signal after parsing of sensor detector carry out PID arithmetic by anti-fuse FPGA and export
PID control amount；PWM module is connect with current acquisition module, pid control module and instruction module respectively, receives star sensor
The PID control amount of detector carries out PWM operation by anti-fuse FPGA and exports corresponding pulse-modulated signal to control refrigeration
Device refrigeration is perhaps believed according to the current anomaly signal-off refrigerator received or according to the instruction after the parsing received
The switch of number control refrigerator.
The instruction module receives the command signal sent by ground control centre, command signal obtained after parsing
Include: the command signal of the dreamboat temperature of modification star sensor detector is transmitted to pid control module；Modify PID control
The command signal of the scale parameter of module, integral parameter and differential parameter, is transmitted to pid control module；And open/close cause
The instruction of cooler, is transmitted to PWM module.
The PID arithmetic that the pid control module carries out, specifically:
U (k)=u (k-1)+K0e(k)+K1e(k-1)+K2e(k-2)；
K0=Kp+Ki+Kd；
K1=-Kp-2Kd；
K2=Kd；
Ki=KpT/Ti；
Kd=KpTd/T；
Wherein, k is sampling sequence number, and T is sampling period, KpFor proportional gain, TiFor integration time constant, TdWhen for differential
Between constant, and u (k-1) indicates the PID control amount that a preceding pid control module exports, and u (k) indicates that this pid control module is defeated
PID control amount out, e (k) indicate the deviation between the actual work temperature and dreamboat temperature of star sensor detector.
The current acquisition module includes: current acquisition unit, acquires the real work electric current of refrigerator in real time；First
Comparator is connect with current acquisition unit, and the real work electric current collected is simultaneously compared with current threshold, when adopting
When the real work electric current collected is higher than current threshold, current anomaly signal will be used as to be transmitted to after current anomaly flag set
PWM module；Otherwise not to current anomaly flag set.
The PWM module includes: counter, the wave of circulation output increasing or decreasing under the control of clock signal clk
Graphic data；Modulated signal register, connect with pid control module, after caching a clock cycle to the PID control amount received
It is exported as modulated signal data；Second comparator is connect with counter and modulated signal register respectively, and counter is defeated
Wave data out is compared with the modulated signal data that modulated signal register exports；When modulated signal data are greater than waveform
When data, the second comparator exports high level, otherwise exports low level, forms pulse-modulated signal；When current anomaly mark not
When set, the second comparator exports pulse-modulated signal to control refrigerator refrigeration；When current anomaly flag set, the second ratio
It is 0 compared with device output, control refrigerator is closed；It needs first to send at this time and closes refrigerator instruction, can just respond opening refrigerator and refer to
It enables, is otherwise not responding to.
The present invention also provides a kind of star sensor precision temperature control methods, are realized using above-mentioned control device, include
Following steps:
Output is warm to pid control module or PWM module after S1, instruction module parse the command signal received
Degree acquisition module acquires the actual work temperature of star sensor detector in real time and exports to pid control module；
The actual work temperature and the command signal after parsing that S2, pid control module receive star sensor detector, pass through
Anti-fuse FPGA carries out PID arithmetic and exports PID control amount to PWM module；
S3, current acquisition module acquire in real time and export the real work electric current of refrigerator, and whether monitoring electric current is different
Often, and current anomaly signal is exported to PWM module；
S4, PWM module receive PID control amount, carry out PWM operation by anti-fuse FPGA and export corresponding impulse modulation
Signal is to control refrigerator refrigeration, perhaps according to the current anomaly signal-off refrigerator that receives or according to receiving
The switch of command signal control refrigerator after parsing.
The instruction module receives the command signal sent by ground control centre, command signal obtained after parsing
Include: the command signal of the dreamboat temperature of modification star sensor detector is transmitted to pid control module；Modify PID control
The command signal of the scale parameter of module, integral parameter and differential parameter, is transmitted to pid control module；And open/close cause
The instruction of cooler, is transmitted to PWM module.
In the S2, the PID arithmetic that pid control module carries out, specifically:
U (k)=u (k-1)+K0e(k)+K1e(k-1)+K2e(k-2)；
K0=Kp+Ki+Kd；
K1=-Kp-2Kd；
K2=Kd；
Ki=KpT/Ti；
Kd=KpTd/T；
Wherein, k is sampling sequence number, and T is sampling period, KpFor proportional gain, TiFor integration time constant, TdWhen for differential
Between constant, and u (k-1) indicates the PID control amount that a preceding pid control module exports, and u (k) indicates that this pid control module is defeated
PID control amount out, e (k) indicate the deviation between the actual work temperature and dreamboat temperature of star sensor detector.
In the S3, comprising the following steps:
S31, current acquisition unit acquire the real work electric current of refrigerator in real time；
Real work electric current that S32, first comparator collect simultaneously is compared with current threshold；When collecting
Real work electric current when being higher than current threshold, judge current anomaly, and will be different as electric current after current anomaly flag set
Regular signal is transmitted to PWM module；Otherwise, judge that electric current is normal, not to current anomaly flag set.
In the S4, comprising the following steps:
S41, counter recycle the Wave data of output increasing or decreasing under control of the clock signal；
The PID control amount that S42, modulated signal register pair receive is used as modulated signal number after caching a clock cycle
According to output；
The modulated signal number for Wave data and modulated signal the register output that S43, the second comparator export counter
According to being compared；When modulated signal data are greater than Wave data, the second comparator exports high level, otherwise exports low level,
To form pulse-modulated signal；
S44, when the non-set of current anomaly mark, the second comparator export pulse-modulated signal to control refrigerator system
It is cold；When current anomaly flag set, the output of the second comparator is 0, and control refrigerator is closed；It needs first to send closing at this time to cause
Cooler instruction can just respond and open refrigerator instruction, otherwise be not responding to.
In conclusion star sensor precise temperature control device provided by the invention and control method, have the following advantages that
With the utility model has the advantages that
1, use anti-fuse FPGA and modular implementation to the precision of star sensor operating temperature in star sensor field
Control；
2, the operating current for acquiring and monitoring in real time refrigerator, refrigerator is directly closed when current anomaly, is needed at this time
It first sends and closes refrigerator instruction, can just respond the instruction for opening refrigerator, otherwise be not responding to, to improve the safety of product
Property；
3, pid control algorithm and PWM algorithm are integrated into anti-fuse FPGA, integrated level is high, low in energy consumption, freezing capacity
High, high reliablity and temperature-controlled precision height；
4, the in-orbit modification dreamboat temperature of instruction module and the parameter of pid control module, strong flexibility can be passed through.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of star sensor precise temperature control device in the present invention；
Fig. 2 is the structure design frame chart of pid control module in the present invention；
Fig. 3 is the structural schematic diagram of instruction module in the present invention；
Fig. 4 is the structural schematic diagram of current acquisition module in the present invention；
Fig. 5 is the structural schematic diagram of PWM module in the present invention.
Specific embodiment
Below in conjunction with FIG. 1 to FIG. 5, the preferred embodiment that the present invention will be described in detail.
As shown in Figure 1, being star sensor precise temperature control device provided by the invention, include: temperature collecting module 1,
Acquire and export in real time the actual work temperature of star sensor detector；Current acquisition module 2, acquires in real time and exports refrigerator
Real work electric current, whether monitoring electric current abnormal, and exports current anomaly signal；Instruction module 3, to the finger received
It is exported after enabling signal be parsed；PID (proportional-integral-differential) control module 4, respectively with temperature collecting module 1 and instruction
Module 3 connects, and the actual work temperature and the command signal after parsing for receiving star sensor detector pass through anti-fuse FPGA
(Field Programmable Gate Array, field programmable gate array) carries out PID arithmetic and exports PID control amount；
PWM (Pulse Width Modulation, pulse width modulation) module 5, respectively with current acquisition module 2, pid control module
4 and instruction module 3 connect, receive star sensor detector PID control amount, by anti-fuse FPGA carry out PWM operation simultaneously
Corresponding pulse-modulated signal is exported to control refrigerator refrigeration, or according to the current anomaly signal-off refrigeration received
Device, or the switch according to the command signal control refrigerator after the parsing received.
The instruction module 3 receives the command signal sent by ground control centre, instruction letter obtained after parsing
Number include: the command signal of the dreamboat temperature of modification star sensor detector is transmitted to pid control module 4；Modify PID
The command signal of the scale parameter of control module 4, integral parameter and differential parameter, is transmitted to pid control module 4；And open/
The instruction for closing refrigerator, is transmitted to PWM module 5.
As shown in Fig. 2, being detailed design block diagram of the pid control module 4 based on anti-fuse FPGA.Wherein, PID is controlled
Expression formula processed are as follows:
Wherein, u (t) is PID control amount, KpFor proportional gain, TiFor integration time constant, TdFor derivative time constant, e
It (t) is deviation.
After making simulation control of PID expression formula discretization, becomes difference equation, obtains:
Wherein, Ki=KpT/Ti, Kd=KpTd/ T, T are the sampling period, and k is sampling sequence number；Therefore analogize and can obtain:
U (k)=u (k-1)+Kp[e(k)-e(k-1)]+Kie(k)+Kd[e(k)-2e(k-1)+e(k-2)] (4)
U (k)=u (k-1)+K0e(k)+K1e(k-1)+K2e(k-2) (5)
Wherein, K0=Kp+Ki+Kd, K1=-Kp-2Kd, K2=Kd；And u (k-1) indicates a preceding pid control module 4 output
PID control amount, u (k) indicates the PID control amount of this pid control module 4 output, and e (k) indicates star sensor detector
Deviation between actual work temperature and dreamboat temperature.Therefore, it according to above-mentioned formula (5), is connect in pid control module 4
After the actual work temperature and dreamboat temperature of receiving star sensor detector, PID arithmetic and defeated can be carried out by FPGA
PID control amount out.
As shown in figure 3, the instruction module 3 is communicated using serial ports, include: serial ports instructs resolution unit 31, with
Ground control centre connection receives the upper note command signal of its sending and is parsed with determine instruction classification, tied according to parsing
Fruit modifies the instruction of dreamboat temperature in this way, i.e., latches the new dreamboat temperature for infusing transmission on ground control centre,
And it is transmitted to pid control module 4；The instruction of modification pid parameter in this way will infuse the new P (ratio of transmission on ground control centre
Example) parameter, I (integral) parameter and D (differential) parameter latch, and are transmitted to pid control module 4；Refrigerator is opened/closed in this way
Instruction, i.e., the refrigerator omicronff signal transmission of transmission will be infused on ground control centre to PWM module 5.
The instruction module 3 also includes: serial ports repeat-back unit 32, instructs resolution unit 31 and ground with serial ports
Control centre's connection, after serial ports instruction resolution unit 31 receives command signal, the serial ports repeat-back unit 32 is to the ground
Control centre sends command reception signal.
As shown in figure 4, the current acquisition module 2 includes: current acquisition unit 21 acquires the reality of refrigerator in real time
Operating current；First comparator 22 is connect with current acquisition unit 21, the real work electric current collected and with electric current door
Limit value is compared, and when collected real work electric current is higher than current threshold, judges current anomaly, and by current anomaly
PWM module 5 is transmitted to as current anomaly signal after flag set；Otherwise, judge that electric current is normal, not to current anomaly mark
Set.
As shown in figure 5, the PWM module 5 includes: counter 51, circulation output is passed under the control of clock signal clk
The Wave data for increasing or successively decreasing；Modulated signal register 52 is connect with pid control module 4, to the PID control amount u received
(k) it is exported after caching a clock cycle as modulated signal data；Second comparator 53, respectively with counter 51 and modulation
Sign register 52 connects, and the Wave data that counter 51 exports and the modulated signal that modulated signal register 52 exports are carried out
Compare；When modulated signal data are greater than Wave data, the second comparator 53 exports high level, otherwise exports low level, thus
Form pulse-modulated signal.
When counter 51 overflows, the enabled control terminal that enable signal is sent to modulated signal register 52 is generated, is made
Digital modulation signal generator 54 is sent to next group modulated signal and posts according to the modulated signal data that PID control amount generates
Thus storage 52 carries out next round relatively and generates new pulse-modulated signal.
The current anomaly that the pulse-modulated signal of second comparator 53 output need to be generated with current acquisition module 2 is believed
Number judged；When the non-set of current anomaly mark, electric current is normal, then the second comparator 53 exports pulse-modulated signal to control
Refrigerator refrigeration processed；When current anomaly flag set, current anomaly, then the output of the second comparator 53 is 0, and control refrigerator closes
It closes；It needs first to send at this time and closes refrigerator instruction, can just respond and open refrigerator instruction, otherwise be not responding to.
The present invention also provides a kind of star sensor precision temperature control methods, are realized using above-mentioned control device, include
Following steps:
S1, instruction module 3 export after parsing to the command signal received to pid control module 4 or PWM module 5,
Temperature collecting module 1 acquires the actual work temperature of star sensor detector in real time and exports to pid control module 4；
The actual work temperature and the command signal after parsing that S2, pid control module 4 receive star sensor detector, lead to
Anti-fuse FPGA is crossed to carry out PID arithmetic and export PID control amount to PWM module 5；
S3, current acquisition module 2 acquire and export in real time the real work electric current of refrigerator, and whether monitoring electric current is different
Often, and current anomaly signal is exported to PWM module 5；
S4, PWM module 5 receive PID control amount, carry out PWM operation by anti-fuse FPGA and export corresponding pulse tune
Signal processed is to control refrigerator refrigeration, perhaps according to the current anomaly signal-off refrigerator received or according to receiving
Parsing after command signal control refrigerator switch.
The instruction module 3 receives the command signal sent by ground control centre, instruction letter obtained after parsing
Number include: the command signal of the dreamboat temperature of modification star sensor detector is transmitted to pid control module 4；Modify PID
The command signal of the scale parameter of control module 4, integral parameter and differential parameter, is transmitted to pid control module 4；And open/
The instruction for closing refrigerator, is transmitted to PWM module 5.
In the S2, the PID arithmetic that pid control module 4 carries out, specifically:
U (k)=u (k-1)+K0e(k)+K1e(k-1)+K2e(k-2)；
K0=Kp+Ki+Kd；
K1=-Kp-2Kd；
K2=Kd；
Ki=KpT/Ti；
Kd=KpTd/T；
Wherein, k is sampling sequence number, and T is sampling period, KpFor proportional gain, TiFor integration time constant, TdWhen for differential
Between constant, and u (k-1) indicates the PID control amount that a preceding pid control module 4 exports, and u (k) indicates this pid control module 4
The PID control amount of output, e (k) indicate the deviation between the actual work temperature and dreamboat temperature of star sensor detector
Value.
In the S3, comprising the following steps:
S31, current acquisition unit 21 acquire the real work electric current of refrigerator in real time；
Real work electric current that S32, first comparator 22 collect simultaneously is compared with current threshold；Work as acquisition
When the real work electric current arrived is higher than current threshold, current anomaly is judged, and electric current will be used as after current anomaly flag set
Abnormal signal is transmitted to PWM module 5；Otherwise, judge that electric current is normal, not to current anomaly flag set.
In the S4, comprising the following steps:
S41, counter 51 recycle the Wave data of output increasing or decreasing under the control of clock signal clk；
S42, modulated signal register 52 are used as modulation after caching a clock cycle to the PID control amount u (k) received
Signal data output；
The modulation that S43, the second comparator 53 export the Wave data that counter 51 exports with modulated signal register 52
Signal data is compared；When modulated signal data are greater than Wave data, the second comparator 53 exports high level, otherwise exports
Low level, to form pulse-modulated signal；
S44, when the non-set of current anomaly mark, the second comparator 53 export pulse-modulated signal to control refrigerator system
It is cold；When current anomaly flag set, the output of the second comparator 53 is 0, and control refrigerator is closed；It needs first to send closing at this time
Refrigerator instruction can just respond and open refrigerator instruction, otherwise be not responding to.
In conclusion star sensor precise temperature control device provided by the invention and control method, by semiconductor
The accurate control of the operating temperature for star sensor is realized in the closed-loop control of refrigerator using anti-fuse FPGA, is that star is sensitive
Device precision provides temperature and guarantees, meets the requirement of low-power consumption and high freezing capacity, reduces star sensor detector electrical noise, improves
Signal noise ratio (snr) of image reduces star sensor random error and improves service life.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (8)
1. a kind of star sensor precise temperature control device, characterized by comprising:
Temperature collecting module acquires in real time and exports the actual work temperature of star sensor detector；
Current acquisition module, acquires in real time and exports the real work electric current of refrigerator, and whether monitoring electric current is abnormal and defeated
Current anomaly signal out, by current anomaly flag set；
Instruction module exports after parsing to the command signal received；
Pid control module is connect with temperature collecting module and instruction module respectively, receives the practical work of star sensor detector
Command signal after making temperature and parsing carries out PID arithmetic by anti-fuse FPGA and exports PID control amount；
PWM module is connect with current acquisition module, pid control module and instruction module respectively, receives star sensor detector
PID control amount, carry out PWM operation and exporting corresponding pulse-modulated signal to control refrigerator system by anti-fuse FPGA
It is cold, or according to the current anomaly signal-off refrigerator received, or controlled and caused according to the command signal after the parsing received
The switch of cooler；
The PWM module includes:
Counter, the Wave data of circulation output increasing or decreasing under the control of clock signal clk；
Modulated signal register, connect with pid control module, makees after caching a clock cycle to the PID control amount received
For the output of modulated signal data；
Second comparator is connect with counter and modulated signal register respectively, the Wave data and tune that counter is exported
The modulated signal data of sign register output processed are compared；When modulated signal data are greater than Wave data, second compares
Device exports high level, otherwise exports low level, forms pulse-modulated signal；
When the non-set of current anomaly mark, the second comparator exports pulse-modulated signal to control refrigerator refrigeration；Work as electric current
When abnormality mark set, the output of the second comparator is 0, and control refrigerator is closed；It needs first to send at this time and closes refrigerator instruction,
It can just respond and open refrigerator instruction, otherwise be not responding to.
2. star sensor precise temperature control device as described in claim 1, which is characterized in that the instruction module receives
The command signal sent by ground control centre, command signal obtained after parsing includes:
The command signal for modifying the dreamboat temperature of star sensor detector, is transmitted to pid control module；
The scale parameter of pid control module, the command signal of integral parameter and differential parameter are modified, pid control module is transmitted to；
The instruction for opening/closing refrigerator, is transmitted to PWM module.
3. star sensor precise temperature control device as claimed in claim 2, which is characterized in that the pid control module
The PID arithmetic of progress, specifically:
U (k)=u (k-1)+K0e(k)+K1e(k-1)+K2e(k-2)；
K0=Kp+Ki+Kd；
K1=-Kp-2Kd；
K2=Kd；
Ki=KpT/Ti；
Kd=KpTd/T；
Wherein, k is sampling sequence number, and T is sampling period, KpFor proportional gain, TiFor integration time constant, TdIt is normal for derivative time
Number, and u (k-1) indicates the PID control amount of preceding pid control module output, u (k) indicates the output of this pid control module
PID control amount, e (k) indicate the deviation between the actual work temperature and dreamboat temperature of star sensor detector.
4. star sensor precise temperature control device as claimed in claim 3, which is characterized in that the current acquisition module
Include:
Current acquisition unit acquires the real work electric current of refrigerator in real time；
First comparator is connect with current acquisition unit, and the real work electric current collected is simultaneously carried out with current threshold
Compare；When collected real work electric current is higher than current threshold, current anomaly will be used as after current anomaly flag set
Signal is transmitted to PWM module；Otherwise not to current anomaly flag set.
5. a kind of star sensor precision temperature control method, using control device described in any one of the claims 1~4
It realizes, which is characterized in that comprise the steps of:
To pid control module or PWM module, temperature is adopted for output after S1, instruction module parse the command signal received
Collection module acquires the actual work temperature of star sensor detector in real time and exports to pid control module；
The actual work temperature and the command signal after parsing that S2, pid control module receive star sensor detector, are melted by counter
Silk FPGA carries out PID arithmetic and exports PID control amount to PWM module；
S3, current acquisition module acquire in real time and export the real work electric current of refrigerator, and whether monitoring electric current is abnormal, and
Current anomaly signal is exported to PWM module, by current anomaly flag set；
S4, PWM module receive PID control amount, carry out PWM operation by anti-fuse FPGA and export corresponding pulse-modulated signal
To control refrigerator refrigeration, perhaps according to the current anomaly signal-off refrigerator received or according to the parsing received
The switch of command signal control refrigerator afterwards, comprising the following steps:
S41, counter recycle the Wave data of output increasing or decreasing under control of the clock signal；
The PID control amount that S42, modulated signal register pair receive is used as modulated signal data defeated after caching a clock cycle
Out；
Wave data that S43, the second comparator export counter and the modulated signal data of modulated signal register output into
Row compares；When modulated signal data are greater than Wave data, the second comparator exports high level, exports low level, otherwise with shape
At pulse-modulated signal；
S44, when the non-set of current anomaly mark, the second comparator export pulse-modulated signal with control refrigerator refrigeration；When
When current anomaly flag set, the output of the second comparator is 0, and control refrigerator is closed；It needs first to send closing refrigerator at this time
Instruction can just respond and open refrigerator instruction, otherwise be not responding to.
6. star sensor precision temperature control method as claimed in claim 5, which is characterized in that the instruction module receives
The command signal sent by ground control centre, command signal obtained after parsing includes:
The command signal for modifying the dreamboat temperature of star sensor detector, is transmitted to pid control module；
The scale parameter of pid control module, the command signal of integral parameter and differential parameter are modified, pid control module is transmitted to；
The instruction for opening/closing refrigerator, is transmitted to PWM module.
7. star sensor precision temperature control method as claimed in claim 6, which is characterized in that in the S2, PID control
The PID arithmetic that module carries out, specifically:
U (k)=u (k-1)+K0e(k)+K1e(k-1)+K2e(k-2)；
K0=Kp+Ki+Kd；
K1=-Kp-2Kd；
K2=Kd；
Ki=KpT/Ti；
Kd=KpTd/T；
Wherein, k is sampling sequence number, and T is sampling period, KpFor proportional gain, TiFor integration time constant, TdIt is normal for derivative time
Number, and u (k-1) indicates the PID control amount of preceding pid control module output, u (k) indicates the output of this pid control module
PID control amount, e (k) indicate the deviation between the actual work temperature and dreamboat temperature of star sensor detector.
8. star sensor precision temperature control method as claimed in claim 7, which is characterized in that specific to wrap in the S3
Containing following steps:
S31, current acquisition unit acquire the real work electric current of refrigerator in real time；
Real work electric current that S32, first comparator collect simultaneously is compared with current threshold；When collected reality
When border operating current is higher than current threshold, current anomaly is judged, and current anomaly will be used as to believe after current anomaly flag set
Number it is transmitted to PWM module；Otherwise, judge that electric current is normal, not to current anomaly flag set.
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