CN111082718A - Stepping motor control system applied to satellite-borne instrument - Google Patents
Stepping motor control system applied to satellite-borne instrument Download PDFInfo
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- CN111082718A CN111082718A CN201911363937.4A CN201911363937A CN111082718A CN 111082718 A CN111082718 A CN 111082718A CN 201911363937 A CN201911363937 A CN 201911363937A CN 111082718 A CN111082718 A CN 111082718A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/36—Protection against faults, e.g. against overheating, step-out; Indicating faults
Abstract
A stepping motor control system applied to a spaceborne instrument relates to the field of spaceborne motor control and aims to solve the problems of the control technology of a stepping motor with complex functions in the existing spaceborne field, and the stepping motor control system comprises a system main control module, a stepping motor independent control module, a stepping motor position initialization module, a first OR gate, a second OR gate, a stepping motor running state module, a stepping motor driving module, a Hall element, a Hall selection module, a stepping motor Hall position judging module, an AND gate, a Hall validity state module and a stepping motor driving clock module; a control strategy of setting a zone bit and clearing the zone bit is adopted for controlling the stepping motor with complex functions in the aerospace field, so that the error operation is prevented, a modular processing mode is adopted for each functional operation, the program is easy to maintain and modify, a high-reliability and high-efficiency control mode of the stepping motor in the satellite-borne payload is realized, and the performance of the system is greatly improved.
Description
Technical Field
The invention relates to the field of aerospace motor control, in particular to a stepping motor control system applied to a satellite-borne instrument.
Background
At present, for a stepping motor applied to a payload detection head on a wind and cloud meteorological satellite, a complex control function needs to be realized on the ground or the satellite, the function is decomposed and simplified on the ground or the satellite, the simplified operation is uploaded to the detection head, the stepping motor is controlled to operate according to the specified direction and the steps, the detection head realizes the simple control function, because a control link is long, the stepping motor of the detection head is easy to generate errors such as stalling and error rotating, the defect of long control closed-loop time is overcome, the function realization of the whole payload is influenced, therefore, the complex functions of the stepping motor are directly realized on the detection head, the complex operation of the ground or the satellite is simplified, and the reliability of the control of the stepping motor can be effectively improved.
Disclosure of Invention
The invention provides a stepping motor control scheme applied to a spaceborne instrument, aiming at solving the problems of the control technology of the stepping motor with complex functions in the field of spaceflight.
A stepping motor control system applied to a satellite-borne instrument comprises a system main control module, a stepping motor independent control module, a stepping motor position initialization module, a first OR gate, a second OR gate, a stepping motor running state module, a stepping motor driving module, Hall elements, a Hall selection module, a stepping motor Hall position judging module, an AND gate, a Hall validity state module and a stepping motor driving clock module;
the system main control module respectively outputs a stepping motor independent control signal, a stepping motor position initialization signal, a stepping motor running direction and running step number signal and a Hall selection signal 1 to the stepping motor independent control module, the stepping motor position initialization module, the stepping motor driving module and the Hall selection module;
the stepping motor independent control module outputs a stepping motor independent control end signal, a Hall positioning control signal 1, a stepping motor operation step number keeping signal clearing 1 according to the operation direction, a stepping motor Hall stop operation keeping signal clearing 1 when encountering a Hall, and a Hall validity signal 1 to the system main control module, the stepping motor driving module, the first OR gate, the second OR gate and the AND gate respectively;
the stepping motor position initialization module outputs a stepping motor position initialization end signal, the stepping motor finishes operation step number keeping signal clearing 2 according to the operation direction, the stepping motor stops operating and keeps signal clearing 2 when meeting Hall, a Hall validity signal 2 and a Hall positioning control signal 2 to the system main control module, the first OR gate, the second OR gate, the AND gate and the stepping motor driving module respectively;
the first OR gate outputs a signal to the motor running state module; the second OR gate outputs a signal to the motor running state module;
the stepping motor running state module simultaneously sends a stepping motor running step number keeping signal according to the running direction and a stepping motor running stopping keeping signal when the stepping motor meets a Hall;
the stepping motor driving module outputs a stepping motor running step number signal according to the running direction and a stepping motor running stop signal when the stepping motor meets a Hall sensor to the motor running state module;
the Hall element outputs an original Hall signal to the Hall selection module and the Hall position judging module of the stepping motor; the Hall selection module outputs the selected Hall signal to the stepping motor driving module; the AND gate outputs a signal to the Hall validity state module; the Hall validity state module outputs a Hall selection signal 2 to the Hall selection module;
the motor driving clock module outputs a motor clock signal to the stepping motor driving module.
The invention has the beneficial effects that: for controlling the stepping motor with complex functions in the aerospace field, the invention directly realizes the functions on the detection head, overcomes the defect that the existing satellite payload detection head can only realize the control of the stepping motor with simple functions, meanwhile, the problems of wrong rotation of the stepping motor of the probe head and long time for controlling the closed loop caused by the fact that the control of the stepping motor with complex functions needs to be realized on the ground or a satellite and the control operation of the decomposed simple stepping motor is uploaded to the probe head for a long distance are solved, meanwhile, the invention adopts the control strategy of setting the zone bit and clearing the zone bit to prevent the occurrence of error operation, and a modularized processing mode is adopted for each functional operation, so that the program is easy to maintain and modify, a high-reliability and high-efficiency control mode of the stepping motor in the satellite-borne payload is realized, and the performance of the system is greatly improved.
Drawings
FIG. 1 is a schematic block diagram of a stepping motor control system applied to a satellite-borne instrument according to the present invention.
Detailed Description
The first embodiment is described with reference to fig. 1, and a stepping motor control system applied to a satellite-borne instrument includes a system main control module 1, a stepping motor independent control module 2, a stepping motor position initialization module 3, a first or gate 4, a second or gate 5, a stepping motor running state module 6, a stepping motor driving module 7, a hall element 8, a hall selection module 9, a stepping motor hall position determination module 10, an and gate 11, a hall validity state module 12, and a stepping motor driving clock module 13;
when the magnetic steel component mounted on the stepping motor is close to the hall component 8, the original hall signal output by the hall component 8 can be reduced from a high level to a low level;
the first or gate 4 outputs a signal obtained by performing phase or operation on the stepping motor finishing operation step number keeping clear signal 1 output by the stepping motor independent control module 2 according to the operation direction and the stepping motor finishing operation step number keeping clear signal 2 according to the operation direction, output by the stepping motor position initialization module 3, to the stepping motor operation state module 6, and the stepping motor operation state module 6 finishes operation step number keeping signal clearing according to the operation direction;
the second or gate 5 outputs a signal, which is output by the stepping motor independent control module 2 and meets the hall stop operation keeping clear signal 1 and the stepping motor position initialization module 3 and meets the hall stop operation keeping clear signal 2 for phase or operation, to the stepping motor operation state module 6, and the stepping motor operation state module 6 clears the hall stop operation keeping signal;
the AND gate 11 outputs a signal obtained after the AND operation of the Hall validity signal 1 output by the stepping motor independent control module 2 and the Hall validity signal 2 output by the stepping motor position initialization module 3 to the Hall validity state module 12 to represent the validity state of the selected Hall element;
the stepping motor driving clock module 13 sends a motor clock signal to the stepping motor driving module 7, the clock signal comprises a stepping motor driving clock, such as 80Hz, and also comprises a Hall edge detection debouncing clock, such as 10kHz, the stepping motor driving module 7 drives the stepping motor to rotate according to the frequency of 80Hz, the stepping motor driving module 7 collects the selected Hall signal output by the Hall selection module 9 according to the collection frequency of 10kHz, when the selected Hall signal has a falling edge, the collection frequency of 10kHz is adopted to obtain three continuous signals, and the falling edge of the selected Hall signal is really collected by judging the high and low levels of the three signals;
the Hall element 8 outputs an original Hall signal to a Hall selection module 9 and a Hall position judging module 10 of the stepping motor;
the hall position judging module 10 judges whether the stepping motor is located at the position of the hall element 8 or not according to the original hall signal sent by the hall element 8, indicates that the stepping motor is located at the position of the hall element 8 when the original hall signal is at a low level, and indicates that the stepping motor is located at the position of the hall element 8 when the original hall signal is at a high level;
except the hall element 8, other modules are all realized by an embedded software FPGA in a satellite-borne instrument, such as XQR2V3000 of Xilinx company;
in this embodiment, the system main control module 1 sends a stepping motor independent control signal to the stepping motor independent control module 2 to instruct the stepping motor to rotate to the designated position 1, meanwhile, the system main control module 1 sends a hall selection signal 1 to the hall selection module 9, the hall selection module 9 selects the designated hall element 1 according to the hall selection signal 1 and sends the selected hall signal output by the hall element 1 to the stepping motor driving module 7, then, the stepping motor independent control module 2 sends a hall positioning control signal 1 to the stepping motor driving module 7, the stepping motor driving module 7 searches for the falling edge of the selected hall signal, the stepping motor independent control module 2 sends the search result, that is, the hall validity signal 1 to the hall validity state module 12 through the and gate 11, when the falling edge of the selected hall signal is not found, considering that the hall element 1 is invalid, the stepping motor driving module 7 returns a stepping motor completion operation step number signal according to the operation direction to the stepping motor operation state module 6, the stepping motor operation state module 6 returns a stepping motor completion operation step number keeping signal according to the operation direction to the stepping motor independent control module 2, the stepping motor independent control module 2 receives the stepping motor completion operation step number keeping signal according to the operation direction, sends the stepping motor completion operation step number keeping clearing signal 1 according to the operation direction to the stepping motor operation state module 6 through the or gate 4, the stepping motor operation state module 6 clears the stepping motor completion operation step number keeping signal according to the operation direction, stops the stepping motor from rotating to the specified position 1, and ends the stepping motor independent control operation;
when the falling edge of the selected Hall signal is found, the Hall element 1 is considered to be effective, the stepping motor driving module 7 returns a Hall stop operation signal when the stepping motor meets the stepping motor to the stepping motor operation state module 6, the stepping motor operation state module 6 returns a Hall stop operation maintaining signal when the stepping motor meets the stepping motor to the stepping motor independent control module 2, the stepping motor independent control module 2 receives the Hall stop operation maintaining signal when the stepping motor meets the stepping motor, sends a Hall stop operation maintaining clearing signal 1 when the stepping motor meets the Hall stop operation to the stepping motor operation state module 6 through the OR gate 5, the stepping motor operation state module 6 clears the Hall stop operation maintaining signal when the stepping motor meets the stepping motor, then the stepping motor driving module 7 rotates to an appointed position 1 according to the operation direction and the operation step number appointed by the Hall positioning control signal 1, and the stepping motor independent control module 2 returns a stepping motor independent control ending signal to the system main control module 1, and finishing the independent control operation of the stepping motor.
The system main control module 1 sends a stepping motor position initialization signal to a stepping motor position initialization module 3 to instruct a stepping motor to rotate to an initial value position 1, meanwhile, a Hall selection module 9 selects a designated Hall element 2 according to the validity of the current Hall element and sends a selected Hall signal output by the Hall element 2 to a stepping motor driving module 7, then, the stepping motor position initialization module 3 sends a Hall positioning control signal 2 to the stepping motor driving module 7, the stepping motor driving module 7 searches for a falling edge of the selected Hall signal, the stepping motor position initialization module 3 sends the searched result, namely the Hall validity signal 2 is sent to a Hall validity state module 12 through an AND gate 11, when the falling edge of the selected Hall signal is not found, the Hall element 2 is considered invalid, and the stepping motor driving module 7 returns a stepping motor running state signal to a stepping motor running state module 6 to complete running step number according to the running direction, the step motor running state module 6 returns a step motor running step number keeping signal according to the running direction to the step motor position initialization module 3, after the step motor position initialization module 3 receives the step motor running step number keeping signal according to the running direction, the step motor running step number keeping clearing signal 2 according to the running direction is sent to the step motor running state module 6 through the OR gate 4, the step motor running state module 6 clears the step motor running step number keeping signal according to the running direction, stops the step motor from rotating to the initial value position 1, and ends the step motor position initialization operation;
when the falling edge of the selected Hall signal is found, the Hall element 2 is considered to be effective, the stepping motor driving module 7 returns a Hall stop operation signal when the stepping motor meets the stepping motor to the stepping motor operation state module 6, the stepping motor operation state module 6 returns a Hall stop operation maintaining signal when the stepping motor meets the stepping motor to the stepping motor position initialization module 3, the stepping motor position initialization module 3 receives the Hall stop operation maintaining signal when the stepping motor meets the stepping motor, the Hall stop operation maintaining clearing signal 2 when the stepping motor meets the Hall stop operation is sent to the stepping motor operation state module 6 through the OR gate 5, the stepping motor operation state module 6 clears the Hall stop operation maintaining signal when the stepping motor meets the stepping motor, then the stepping motor driving module 7 rotates to an initial value position 1 according to the operation direction and the operation step number specified by the Hall positioning control signal 2, the stepping motor independent control module 2 returns a stepping motor position initialization ending signal to the main control system 1 And completing the initialization operation of the position of the stepping motor.
Claims (7)
1. A stepping motor control system applied to a satellite-borne instrument comprises a system main control module (1), a stepping motor independent control module (2), a stepping motor position initialization module (3), a first OR gate (4), a second OR gate (5), a stepping motor running state module (6), a stepping motor driving module (7), Hall components (8), a Hall selection module (9), a stepping motor Hall position judging module (10), an AND gate (11), a Hall validity state module (12) and a stepping motor driving clock module (13); the method is characterized in that:
the system main control module (1) respectively outputs a stepping motor independent control signal, a stepping motor position initialization signal, a stepping motor running direction and running step number signal and a Hall selection signal 1 to the stepping motor independent control module (2), the stepping motor position initialization module (3), the stepping motor driving module (7) and the Hall selection module (9);
the stepping motor independent control module (2) outputs a stepping motor independent control end signal, a Hall positioning control signal 1, a stepping motor operation step number keeping clearing signal 1 according to the operation direction, a stepping motor Hall stop operation keeping clearing signal 1 and a Hall validity signal 1 to the system main control module (1), the stepping motor driving module (7), the first OR gate (4), the second OR gate (5) and the AND gate (11) respectively;
the step motor position initialization module (3) outputs a step motor position initialization end signal, a step motor operation step number keeping clearing signal 2 according to the operation direction, a step motor operation stop keeping clearing signal 2, a Hall validity signal 2 and a Hall positioning control signal 2 to the system main control module (1), the first OR gate (4), the second OR gate (5), the AND gate (11) and the step motor driving module (7) respectively;
the first OR gate (4) and the second OR gate (5) output signals to a motor running state module (6);
the stepping motor running state module (6) simultaneously sends a stepping motor running step number keeping signal according to the running direction and a stepping motor running stopping keeping signal when the stepping motor meets a Hall and stops running to the stepping motor independent control module (2) and the stepping motor position initialization module (3);
the stepping motor driving module (7) outputs a stepping motor running step number signal according to the running direction and a hall running stop signal when the stepping motor meets the hall running to the motor running state module (6);
the Hall element (8) outputs an original Hall signal to a Hall selection module (9) and a Hall position judging module (10) of the stepping motor;
the Hall selection module (9) outputs the selected Hall signal to the stepping motor driving module (7);
the AND gate (11) outputs a signal to the Hall validity state module (12);
the Hall validity state module (12) outputs a Hall selection signal 2 to the Hall selection module (9);
the motor driving clock module (13) outputs a motor clock signal to the stepping motor driving module (7).
2. The stepping motor control system applied to the spaceborne instrument as claimed in claim 1, wherein:
the operation process of the stepping motor independent control module is as follows:
the system main control module (1) sends a stepping motor independent control signal to the stepping motor independent control module (2) to command the stepping motor to rotate to a specified position 1, meanwhile, the system main control module (1) sends a Hall selection signal 1 to the Hall selection module (9), the Hall selection module (9) selects a specified Hall element 1 according to the Hall selection signal 1, and sends the selected Hall signal output by the Hall element 1 to the stepping motor driving module (7);
then, the stepping motor independent control module (2) sends a Hall positioning control signal 1 to the stepping motor driving module 7, the stepping motor driving module (7) searches for a falling edge of a selected Hall signal, the stepping motor independent control module (2) sends a searching result, namely the Hall effective signal 1 is sent to the Hall effective state module (12) through an AND gate (11), when the falling edge of the selected Hall signal is not found, the Hall element 1 is considered invalid, the stepping motor driving module (7) returns a stepping motor to the stepping motor running state module (6) to complete a running step number signal according to a running direction, and the stepping motor running state module (6) returns the stepping motor to the stepping motor independent control module (2) to complete a running step number keeping signal according to the running direction;
after the step motor independent control module (2) receives a step motor operation step number keeping signal according to the operation direction, the step motor operation step number keeping clearing signal 1 is sent to the step motor operation state module (6) through the first OR gate (4), the step motor operation state module (6) clears the step motor operation step number keeping signal according to the operation direction, the step motor is stopped from rotating to the specified position 1, and the step motor independent control operation is finished.
3. The stepping motor control system applied to the spaceborne instrument as claimed in claim 2, wherein:
when the falling edge of the selected Hall signal is found, the Hall element 1 is considered to be effective, the stepping motor driving module (7) returns a Hall operation stop signal when the stepping motor meets the stepping motor operation state module (6), the stepping motor operation state module (6) returns a Hall operation stop maintaining signal when the stepping motor meets the stepping motor independent control module (2), the stepping motor independent control module (2) sends a Hall operation stop maintaining clearing signal 1 when the stepping motor meets the Hall operation stop maintaining signal to the stepping motor operation state module (6) through the second OR gate (5) after receiving the Hall operation stop maintaining signal when the stepping motor meets the stepping motor, and the stepping motor operation state module (6) clears the Hall operation stop maintaining signal when the stepping motor meets the Hall operation stop maintaining signal;
then, the stepping motor driving module (7) rotates to the designated position 1 according to the designated running direction and running step number of the Hall positioning control signal 1, and the stepping motor independent control module (2) returns a stepping motor independent control ending signal to the system main control module (1) to complete the stepping motor independent control operation.
4. The stepping motor control system applied to the spaceborne instrument as claimed in claim 1, wherein:
the operation process of the stepping motor position initialization module is as follows:
the system main control module 1 sends a stepping motor position initialization signal to the stepping motor position initialization module (3) to command the stepping motor to rotate to an initial value position 1, meanwhile, the Hall selection module (9) selects a designated Hall element 2 according to the effectiveness of the current Hall element, and sends the selected Hall signal output by the Hall element 2 to the stepping motor driving module (7);
then, the step motor position initialization module (3) sends a Hall positioning control signal 2 to the step motor driving module (7), the step motor driving module (7) searches for the falling edge of the selected Hall signal, the step motor position initialization module (3) sends the searched result, namely the Hall validity signal 2 is sent to the Hall validity state module (12) through an AND gate (11), when the falling edge of the selected Hall signal is not found, the Hall element 2 is considered invalid, the step motor driving module (7) returns a step motor operation state module (6) to complete the operation step number signal according to the operation direction, the step motor operation state module (6) returns the step motor to the step motor position initialization module (3) to complete the operation step number maintaining signal according to the operation direction, after the step motor position initialization module (3) receives the step motor operation step number maintaining signal according to the operation direction, and the step motor finishes the operation step number keeping and clearing signal 2 according to the operation direction through the first OR gate (4), and sends the step motor operation state module (6), the step motor operation state module (6) finishes the operation step number keeping and clearing signal according to the operation direction, stops the step motor from rotating to the initial value position 1, and finishes the step motor position initialization operation.
5. The stepping motor control system applied to the spaceborne instrument as claimed in claim 4, wherein:
when the falling edge of the selected Hall signal is found, the Hall element 2 is considered to be effective, the stepping motor driving module (7) returns a Hall stop operation signal when the stepping motor meets the stepping motor operation state module (6), the stepping motor operation state module (6) returns a Hall stop operation maintaining signal when the stepping motor meets the stepping motor position initialization module (3), the stepping motor position initialization module (3) sends a Hall stop operation maintaining clearing signal 2 when the stepping motor meets the Hall stop operation maintaining signal to the stepping motor operation state module (6) through the second OR gate (5) after receiving the Hall stop operation maintaining signal when the stepping motor meets the stepping motor, the stepping motor operation state module (6) clears the Hall stop operation maintaining signal when the stepping motor meets the Hall stop operation maintaining signal, and then the stepping motor driving module (7) rotates to an initial value position 1 according to the operation direction and the operation step number specified by the Hall positioning control signal 2, and the stepping motor independent control module (2) returns a stepping motor position initialization finishing signal to the system main control module (1) to complete the stepping motor position initialization operation.
6. The stepping motor control system applied to the spaceborne instrument as claimed in claim 1, wherein:
the stepping motor driving clock module (13) sends a motor clock signal to the stepping motor driving module (7), the clock signal comprises a stepping motor driving clock, a Hall edge detection debounce clock, the stepping motor driving module (7) drives a stepping motor to rotate and collects a selected Hall signal output by the Hall selection module (9), when the selected Hall signal has a falling edge, continuous three signals are obtained, and the falling edge of the selected Hall signal is really collected by judging the high and low levels of the three signals.
7. The stepping motor control system applied to the spaceborne instrument as claimed in claim 1, wherein:
the Hall element (8) outputs an original Hall signal to a Hall selection module (9) and a Hall position judging module (10) of the stepping motor;
the Hall position judging module (10) judges whether the stepping motor is positioned at the position of the Hall element (8) according to the original Hall signal sent by the Hall element (8), when the original Hall signal is at a low level, the stepping motor is positioned at the position of the Hall element (8), and when the original Hall signal is at a high level, the stepping motor is positioned at the position of the Hall element (8).
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