CN108801127B - Solar wing sailboard rotation precision calibration method based on single Hall sensor - Google Patents
Solar wing sailboard rotation precision calibration method based on single Hall sensor Download PDFInfo
- Publication number
- CN108801127B CN108801127B CN201810663328.XA CN201810663328A CN108801127B CN 108801127 B CN108801127 B CN 108801127B CN 201810663328 A CN201810663328 A CN 201810663328A CN 108801127 B CN108801127 B CN 108801127B
- Authority
- CN
- China
- Prior art keywords
- hall sensor
- solar wing
- sailboard
- wing sailboard
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position Or Direction (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The invention provides a solar wing sailboard rotation precision calibration method based on a single Hall sensor, which comprises the following steps: the satellite is powered up, the solar wing sail plate driving mechanism and the Hall sensor are powered up, and the solar wing sail plate driving mechanism is started to rotate; reading a preset Hall sensor signal width value from a ROM, setting a zero position of the solar wing sailboard, and calibrating the position of the solar wing sailboard at the moment of triggering the Hall sensor; starting an on-orbit sun tracking operation mode of the solar wing sailboard, automatically scanning the signal width of the Hall sensor in each tracking period, and updating the signal width value of the Hall sensor in the ROM; and jumping to the second step and executing in a circulating way. The invention eliminates the rotation error of the solar wing sailboard driving motor and the sensor detection error caused by the magnetic weakening of the Hall sensor magnetic steel, improves the on-orbit rotation precision of the solar wing sailboard, and can be applied to the satellite solar wing sailboard rotation control tasks of various types.
Description
Technical Field
The invention relates to a novel method for automatically calibrating the rotation precision of a solar wing sailboard of an on-orbit satellite, which can be applied to the drive control task of the solar wing sailboard of the satellite.
Background
The rotation or swing of the satellite solar wing sailboard is an important way for realizing the tracking of the solar track by the solar wing cell array surface and the contact of the solar cell array surface with the maximum cell array surface area to the sun illumination, and higher requirements are provided for the motion precision calibration method of the satellite solar wing sailboard for improving the motion precision of the rotation or swing of the solar wing sailboard.
At present, the commonly used method for detecting and calibrating the position of the solar wing sailboard of the satellite comprises the following steps: the position detection method based on the multi-Hall sensor and the position detection calibration method based on the rotary transformer. The position detection method based on the multiple Hall sensors determines the accurate position of the solar wing sailboard by utilizing the mutual position relationship between two or more Hall sensors, has high reliability, and can accurately correct the on-orbit rotation error of the solar wing sailboard, but the method does not consider the sensor detection error caused by the magnetic weakening of the Hall sensors. The position detection and calibration method based on the rotary transformer can accurately detect and calibrate the position precision of the solar wing sailboard, but the cost of the application of the rotary transformer on a satellite is higher.
Disclosure of Invention
Aiming at the defects in the prior art, the satellite solar wing sailboard rotates or swings in an on-orbit high-precision manner, which is an important way for a solar wing cell array surface to accurately track the sun track and contact the sun with the maximum cell array area for illumination.
The invention is realized by the following technical scheme:
a solar wing sailboard rotation precision calibration method based on a single Hall sensor is characterized by comprising the following steps:
step one, powering up a satellite, powering up a solar wing sail plate driving mechanism and a Hall sensor, and starting the solar wing sail plate driving mechanism to rotate;
reading a preset Hall sensor signal width value from a ROM, setting a zero position of the solar wing sailboard, and calibrating the position of the solar wing sailboard at the moment when the Hall sensor is triggered;
starting an on-orbit sun tracking operation mode of the solar wing sailboard, automatically scanning the signal width of the Hall sensor in each tracking period, and updating the signal width value of the Hall sensor in a ROM;
and step four, jumping to the step two, and executing in a circulating mode.
Preferably, the method for determining the width value of the hall sensor signal in the ROM memory in the second step is as follows: scanning the signal Width of the Hall sensor, namely starting from the Hall sensor signal value of high level, starting the solar wing sailboard to rotate forwards or reversely continuously, starting counting the rotation angle of the solar wing sailboard from 0 at the moment when the Hall sensor signal value is triggered from high level to low level, stopping counting when the Hall sensor signal value is triggered from low level to high level, and obtaining the counting value as Hall sensor signal Width value Hall _ Width _ Parameter.
Preferably, the method for setting the zero position of the solar wing sailboard in the second step includes: the solar wing sailboard starts to rotate forwards or reversely continuously, from the moment when the Hall sensor signal value is triggered to be low level from high level, the solar wing sailboard rotates in the same rotating direction by the angle value of Hall _ Width _ Parameter/2 and stops, and the position of the solar wing sailboard at this moment is set as the zero point position.
Preferably, the calibration method for the position of the solar wing sailboard at the moment when the hall sensor is triggered in the second step includes: when the solar wing sailboard rotates forwards, the Hall sensor signal value is triggered to be at a high level moment from a low level, and the position value of the solar wing sailboard is calibrated to be +/-Hall _ Width _ Parameter/2; when the solar wing sailboard rotates reversely, the Hall sensor signal value is triggered to be at a high level moment from a low level, and the position value of the calibrated solar wing sailboard is-Hall _ Width _ Parameter/2.
Preferably, in the third step, the signal width of the hall sensor is automatically scanned in each tracking period, and the conditions required for automatically scanning the signal width of the hall sensor are as follows: the solar wing sailboard passes through the low-level full section of the Hall sensor signal in the same rotating direction.
Preferably, in the third step, the hall sensor signal width value in the ROM memory is updated in such a way that the hall sensor signal width value obtained by the latest scanning is overlaid on the previous hall sensor signal width value in the ROM memory.
The invention relates to an automatic calibration method for the rotation precision of a solar wing sailboard of an on-orbit satellite, which has the following beneficial effects compared with the prior art:
the invention relates to a solar wing sailboard rotation precision calibration method based on a single Hall sensor, which has the characteristics of low cost and simple hardware structure compared with a solar wing sailboard rotation precision calibration method with a plurality of Hall sensors and a rotary transformer. The invention can be applied to the rotation control task of the solar wing sailboard of each type of satellite.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a working flow chart of the calibration of the rotation accuracy of a solar wing sailboard based on a single Hall sensor;
FIG. 2 is a diagram of the installation position of the Hall sensor on the solar wing sail panel rotating system;
FIG. 3 is a flow chart of software for calibrating the rotation accuracy of a solar wing sailboard based on a single Hall sensor;
fig. 4 is a diagram of hall sensor output signals.
In the figure: 1-a solar wing sail plate connecting shaft; 2-a gear; 3-a rotating shaft; 4-solar wing sail plate connecting shaft; 5-mounting the solar wing sailboard; 6-magnetic steel; 7-a Hall sensor; 8-a support frame; 9-a support frame; 10-high level signal; 11-signal transition edge; 12-low level midpoint position; 13-low level signal; 14-signal transition edge; 15-high level signal.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
FIG. 1 is a working flow chart of the calibration of the rotation accuracy of a solar wing sailboard based on a single Hall sensor; as shown in fig. 1, the method for calibrating the rotation accuracy of a solar wing sailboard based on a single hall sensor comprises the following steps:
step one, powering up a satellite, powering up a solar wing sail plate driving mechanism and a Hall sensor, and starting the solar wing sail plate driving mechanism to rotate;
reading a preset Hall sensor signal width value from a ROM, setting a zero position of the solar wing sailboard, and calibrating the position of the solar wing sailboard at the moment when the Hall sensor is triggered;
starting an on-orbit sun tracking operation mode of the solar wing sailboard, automatically scanning the signal width of the Hall sensor in each tracking period, and updating the signal width value of the Hall sensor in a ROM;
and step four, jumping to the step two, and executing in a circulating mode.
The method for determining the width value of the Hall sensor signal in the ROM in the second step comprises the following steps: scanning the signal Width of the Hall sensor, namely starting from the Hall sensor signal value of high level, starting the solar wing sailboard to rotate forwards or reversely continuously, starting counting the rotation angle of the solar wing sailboard from 0 at the moment when the Hall sensor signal value is triggered from high level to low level, stopping counting when the Hall sensor signal value is triggered from low level to high level, and obtaining the counting value as Hall sensor signal Width value Hall _ Width _ Parameter.
The zero point position setting method of the solar wing sailboard in the second step comprises the following steps: the solar wing sailboard starts to rotate forwards or reversely continuously, from the moment when the Hall sensor signal value is triggered to be low level from high level, the solar wing sailboard rotates in the same rotating direction by the angle value of Hall _ Width _ Parameter/2 and stops, and the position of the solar wing sailboard at this moment is set as the zero point position.
The method for calibrating the position of the solar wing sailboard at the triggering moment of the Hall sensor comprises the following steps: when the solar wing sailboard rotates forwards, the Hall sensor signal value is triggered to be at a high level moment from a low level, and the position value of the solar wing sailboard is calibrated to be +/-Hall _ Width _ Parameter/2; when the solar wing sailboard rotates reversely, the Hall sensor signal value is triggered to be at a high level moment from a low level, and the position value of the calibrated solar wing sailboard is-Hall _ Width _ Parameter/2.
In the third step, the signal width of the hall sensor is automatically scanned in each tracking period, and the required conditions for automatically scanning the signal width of the hall sensor are as follows: the solar wing sailboard passes through the low-level full section of the Hall sensor signal in the same rotating direction.
And in the third step, the Hall sensor signal width value in the ROM is updated in a way that the Hall sensor signal width value obtained by the latest scanning covers the previous Hall sensor signal width value in the ROM.
Example one
Referring to fig. 2 to 4, a specific embodiment of the present invention is illustrated.
Specifically, the hall sensor 7 outputs a hall sensor signal according to the magnetic field intensity of the magnetic steel 6, and when the magnetic steel 6 is far away from the hall sensor 7, the hall sensor 7 outputs a high level signal 10 or 15; when the magnetic steel 6 is close to the hall sensor 7, the hall sensor outputs a low level signal 13.
Specifically, when the Hall sensor 7 rotates forward and the Hall sensor outputs a rising edge of a signal (i.e., a signal jump edge 14), the rotation position value of the solar wing panel is calibrated to be +/-Hall _ Width _ Parameter/2; when the Hall sensor 7 rotates reversely and the Hall sensor outputs a signal rising edge (namely a signal jumping edge 11), the rotation position value of the solar wing sailboard is calibrated to be-Hall _ Width _ Parameter/2.
Specifically, the solar wing sailboard is mounted on the solar wing sailboard mounting surface 5 through rivets, namely the solar wing sailboard and the magnetic steel 6 rotate integrally, when the solar wing sailboard rotates continuously in the forward direction and the hall sensor 7 initially outputs a high level signal 10, the magnetic steel 6 rotates along with the rotation of the solar wing sailboard and is close to the hall sensor 7, then a jump edge 11 of an output signal of the hall sensor is triggered, the hall sensor outputs a low level signal 13, when the magnetic steel 6 rotates to the position of the hall sensor 7, the magnetic field of the magnetic steel 6 has the strongest influence on the hall sensor 7, namely the hall sensor low level midpoint position 12, the solar wing sailboard continues to rotate, the magnetic steel 6 is far away from the hall sensor 7, then the jump edge 14 of the output signal of the hall sensor is triggered, and the hall sensor outputs a high level.
Specifically, when the solar wing sailboard continuously rotates in the forward direction, the rotating angle of the solar wing sailboard in the time period of the low level signal 13 output by the Hall sensor is the Hall sensor signal Width value Hall _ Width _ Parameter, namely, the Hall sensor signal Width scanning is completed; when the solar wing sailboard rotates reversely and continuously, the rotating angle of the solar wing sailboard in the time period of the low level signal 13 output by the Hall sensor is Hall _ Width _ Parameter of the Hall sensor signal Width value, and therefore Hall sensor signal Width scanning is completed.
Specifically, the width value of the hall sensor signal in the ROM memory is updated in such a way that the newly scanned and acquired width value of the hall sensor signal is overlaid on the previous width value of the hall sensor signal in the ROM memory.
The calibration method provided by the invention not only can accurately correct the on-orbit rotation error of the solar wing sailboard, but also can automatically detect the signal width value of the Hall sensor and calibrate the sensor detection error of the Hall sensor caused by the magnetic weakening of the magnetic steel. The method for calibrating the rotation precision of the solar wing sailboard based on the single Hall sensor has the characteristic of low cost. The invention relates to a novel method for automatically calibrating the rotation precision of an on-orbit satellite solar wing sailboard, which can be applied to the driving control task of the satellite solar wing sailboard of each model.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (5)
1. A solar wing sailboard rotation precision calibration method based on a single Hall sensor is characterized by comprising the following steps:
step one, powering up a satellite, powering up a solar wing sail plate driving mechanism and a Hall sensor, and starting the solar wing sail plate driving mechanism to rotate;
reading a preset Hall sensor signal width value from a ROM, setting a zero position of the solar wing sailboard, and calibrating the position of the solar wing sailboard at the moment when the Hall sensor is triggered;
starting an on-orbit sun tracking operation mode of the solar wing sailboard, automatically scanning the signal width of the Hall sensor in each tracking period, and updating the signal width value of the Hall sensor in a ROM; step four, jumping to the step two, and executing in a circulating way;
the method for determining the width value of the Hall sensor signal in the ROM in the second step comprises the following steps: scanning the signal Width of the Hall sensor, namely starting from the Hall sensor signal value of high level, starting the solar wing sailboard to rotate forwards or reversely continuously, starting counting the rotation angle of the solar wing sailboard from 0 at the moment when the Hall sensor signal value is triggered from high level to low level, stopping counting when the Hall sensor signal value is triggered from low level to high level, and obtaining the counting value as Hall sensor signal Width value Hall _ Width _ Parameter.
2. The single hall sensor-based solar wing sailboard rotation accuracy calibration method according to claim 1, wherein the zero point position setting method for the solar wing sailboard in the second step is:
the solar wing sailboard starts to rotate forwards or reversely continuously, from the moment when the Hall sensor signal value is triggered to be low level from high level, the solar wing sailboard rotates in the same rotating direction by the angle value of Hall _ Width _ Parameter/2 and stops, and the position of the solar wing sailboard at this moment is set as the zero point position.
3. The single hall sensor-based solar wing sailboard rotation accuracy calibration method according to claim 2, characterized in that the calibration method for the position of the solar wing sailboard at the hall sensor trigger time in the second step is:
when the solar wing sailboard rotates forwards, the Hall sensor signal value is triggered to be at a high level moment from a low level, and the position value of the solar wing sailboard is calibrated to be +/-Hall _ Width _ Parameter/2;
when the solar wing sailboard rotates reversely, the Hall sensor signal value is triggered to be at a high level moment from a low level, and the position value of the calibrated solar wing sailboard is-Hall _ Width _ Parameter/2.
4. The single hall sensor-based solar wing sailboard rotation accuracy calibration method according to claim 1, wherein the hall sensor signal width is automatically scanned in each tracking period in the third step, and the conditions required for automatically scanning the hall sensor signal width are as follows:
the solar wing sailboard passes through the low-level full section of the Hall sensor signal in the same rotating direction.
5. The single hall sensor-based solar wing sailboard rotation accuracy calibration method according to claim 4, characterized in that the hall sensor signal width values in the ROM memory are updated in the third step in such a way that the last hall sensor signal width value obtained by scanning is overlaid on the previous hall sensor signal width values in the ROM memory.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810663328.XA CN108801127B (en) | 2018-06-25 | 2018-06-25 | Solar wing sailboard rotation precision calibration method based on single Hall sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810663328.XA CN108801127B (en) | 2018-06-25 | 2018-06-25 | Solar wing sailboard rotation precision calibration method based on single Hall sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108801127A CN108801127A (en) | 2018-11-13 |
| CN108801127B true CN108801127B (en) | 2020-04-21 |
Family
ID=64071245
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810663328.XA Active CN108801127B (en) | 2018-06-25 | 2018-06-25 | Solar wing sailboard rotation precision calibration method based on single Hall sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108801127B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109510408A (en) * | 2018-12-12 | 2019-03-22 | 广东保威新能源有限公司 | Solar energy tracking control system and control method based on Hall sensor |
| CN109814608B (en) * | 2019-02-14 | 2020-03-24 | 浙江中控太阳能技术有限公司 | High-precision heliostat reference position positioning detection method and device |
| CN110963077B (en) * | 2019-11-11 | 2022-02-22 | 上海航天控制技术研究所 | Space station solar wing capable of correcting speed and speed correction method thereof |
| CN111099041B (en) * | 2019-12-09 | 2021-06-29 | 上海航天控制技术研究所 | Space station multi-cabin solar wing autonomous identification control system and control method thereof |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4125482A1 (en) * | 1991-04-27 | 1993-02-04 | Deutsche Aerospace | Angular rotation measuring device with rotationally positionable magnet - has eccentrically mounted sensor elements for compensation of angle differences |
| CN104914880A (en) * | 2015-05-21 | 2015-09-16 | 张智博 | Sun-tracking control method for disc type solar power generation system |
| CN106697334B (en) * | 2016-11-29 | 2019-03-29 | 上海卫星工程研究所 | A kind of satellite sun wing sail plate drive control method |
| CN106764890A (en) * | 2016-12-23 | 2017-05-31 | 江苏大学 | A kind of solar street light from motion tracking sun angle |
-
2018
- 2018-06-25 CN CN201810663328.XA patent/CN108801127B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108801127A (en) | 2018-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108801127B (en) | Solar wing sailboard rotation precision calibration method based on single Hall sensor | |
| US20210099112A1 (en) | Method and system for obtaining initial mechanical angle of electric motor | |
| CN108008376A (en) | With self-alignment automotive vehicle radar system | |
| EP3301401B1 (en) | Eccentricity calculating method, rotary encoder, robotic arm and robot apparatus | |
| US20190109549A1 (en) | Motor system | |
| JP4964112B2 (en) | Motor characteristic acquisition device | |
| US8702388B2 (en) | Calibration of blade load sensors | |
| US10099719B2 (en) | Apparatus and method for measuring offset of EPS motor position sensor | |
| US20090050192A1 (en) | Tracking-Type Photovoltaic Power Generation System, Method for Controlling the System, and Program Product for Controlling the System | |
| KR20190026652A (en) | Estimation of yaw misalignment for wind turbines | |
| CN104300847A (en) | Rotation detection apparatus, motor control apparatus, motor driven apparatus, and method of correcting rotation detection apparatus | |
| CN108444506B (en) | Encoder code wheel, absolute value encoder, position acquisition method and system | |
| US8364432B2 (en) | Analog angle sensor accuracy correction program correction method, recording medium, and servo driver | |
| US20130346019A1 (en) | Signal processing device of scanning-type distance measurement device, signal processing method, and scanning-type distance measurement device | |
| US8706269B2 (en) | Controller and machining apparatus with position encoder compensation | |
| US20100181956A1 (en) | Rotational position detecting method for ac servomotor and simple encoder | |
| KR20190061714A (en) | Method for computating motor rotor position using hall sensor | |
| US20220187429A1 (en) | Optical ranging device | |
| US6697680B2 (en) | Method for compensating signals from an absolute angular position sensor assembly | |
| JP2018200193A (en) | Motor control system and method for detecting abnormality of resolver/digital converter | |
| US20230069443A1 (en) | Clutch actuator, detection system and method for detecting an angular position of a rotary component | |
| JP5308144B2 (en) | Servo motor device calibration method and servo motor device | |
| JP2008245389A (en) | Motor control apparatus and method | |
| CN116067330A (en) | Method for realizing servo final-stage angle measurement | |
| CN110702038A (en) | System for measuring platform absolute angle in pod product and data processing method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |