CN111781867A - ARM single-chip microcomputer control system for measuring mN-level thrust frame - Google Patents
ARM single-chip microcomputer control system for measuring mN-level thrust frame Download PDFInfo
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- CN111781867A CN111781867A CN202010423296.3A CN202010423296A CN111781867A CN 111781867 A CN111781867 A CN 111781867A CN 202010423296 A CN202010423296 A CN 202010423296A CN 111781867 A CN111781867 A CN 111781867A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
- G01L5/0038—Force sensors associated with force applying means applying a pushing force
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Abstract
The invention discloses a control system for measuring a mN-level thrust frame, which uses an ARM singlechip to control a mN-level thrust frame PID regulating circuit and an output circuit, and comprises a power supply module, a communication module, an A/D module, a PID-fuzzy algorithm module, a D/A module and a power amplification driving module. The displacement signal of the thrust frame is input into the STM32 single chip microcomputer, the ARM chip is operated and fed back through a PID-fuzzy algorithm and driven by the power amplification circuit, the control circuit outputs feedback current to enable the thrust frame to reach a balanced state, and finally the true value of the thrust is obtained through the calibration relation of the output current and the electromagnetic force, so that the thrust of the electric thruster is accurately and quickly measured by a direct method, and the quick adjustment and high-resolution reading of the thrust frame are realized.
Description
Technical Field
The invention belongs to the technical field of thrust measurement of space electric thrusters, and particularly relates to an ARM single-chip microcomputer control system for measuring a mN-level thrust frame.
Background
The electric propulsion is an advanced propulsion mode for obtaining propulsion power by directly heating the propellant by using electric energy or ionizing and accelerating the propellant by using electromagnetic action, has the characteristics of high specific impulse, low thrust and high efficiency, and has wide application prospect in space tasks of orbit control, deep space exploration, interstellar navigation and the like of large-scale spacecrafts. The thrust magnitude of the propulsion mode is mN level, the small-magnitude thrust is different from the traditional rigid thrust measurement method, an elastic thrust frame is required to be adopted for accurate measurement, and the elastic thrust frame is widely applied to the thrust measurement task of the electric thruster at present.
The thrust parameter is a key performance index of the electric thruster, and the accurate measurement of the thrust can provide an important reference basis for performance improvement of the thruster, engine design and engine efficiency improvement. At present, an elastic thrust frame is the most main means for measuring the thrust of an electric thruster, and has the advantages of accurate measuring range, large swing amplitude, convenience for assembling the thruster and the like, however, the regulation of the calibration and feedback links of the thrust frame in the measuring process has higher requirements on technical personnel, and because the electric thruster needs to ionize and accelerate plasma by using electric energy, the electric thruster has large interference of electric, magnetic and thermal effects, great technical challenge is provided for a traditional analog circuit, and a quick, intelligent and anti-noise interference thrust frame control system is not provided at present.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a control system for controlling a mN-level thrust frame circuit, wherein an ARM single chip microcomputer is used for operating a mN-level thrust frame PID regulating circuit and an output circuit, so that the thrust of an electric thruster can be accurately and rapidly measured. The specific technical scheme of the invention is as follows:
an ARM single-chip microcomputer control system for measuring a mN-level thrust frame is characterized by comprising a power supply module, a communication module, an A/D module, an ARM single-chip microcomputer, a PID-fuzzy algorithm module, a D/A module and a power amplification driving module, wherein,
the power supply module is used for supplying power to the ARM single chip microcomputer and the power amplification driving module;
the communication module is in USB serial port communication and is used for program downloading and the ARM single chip microcomputer is in communication with each module;
the A/D module is an input module of the control system, the input end of the A/D module is connected with the output end of the thrust frame displacement sensor, and an analog voltage signal output by the thrust frame displacement sensor is converted into a digital signal;
the ARM single chip microcomputer is used for realizing the PID-fuzzy algorithm module, performing triangular fuzzy processing on the digital signal output by the A/D module, and performing proportional, integral and differential operations;
the input end of the PID-fuzzy algorithm module is connected with the output end of the A/D module, the digital signal obtained by converting the displacement of the thrust frame is subjected to PID feedback control operation and fuzzy control operation, and the output end of the PID-fuzzy algorithm module is connected with the input end of the D/A module;
the D/A module converts the operation result of the PID-Fuzzy algorithm control module into an analog voltage signal and inputs the analog voltage signal into the power amplification driving module;
the power amplification driving module is an output module of the control system, performs power amplification on a voltage signal, converts the voltage signal into corresponding current to be directly output, outputs the current to flow into an electromagnetic coil of the thrust frame, enables the electromagnetic coil of the thrust frame to output a stable current signal, provides reverse thrust equal to the thrust of the electric thruster, further enables the thrust frame to generate new swing to reach a balance position, and finally reads the size of electromagnetic force corresponding to the output current value through the control system, so that the thrust measurement of the electric thruster is realized.
Furthermore, the power supply module supplies power to a USB interface of the ARM single chip microcomputer, 5V-to-3.3V level conversion is achieved by connecting the USB interface of the ARM single chip microcomputer with an AT24C02 chip, an external voltage-stabilizing direct-current power supply is used for supplying power of +/-15V, and communication, data reading and writing and program writing of the ARM single chip microcomputer are achieved through the USB interface.
Further, the communication module is realized by a serial port chip PL2303 of a USB-to-single chip microcomputer.
Further, the power amplification driving module amplifies through a chip LF356 to form a proportional circuit to stabilize voltage and current signals, and then realizes power amplification through a power amplification chip LM1875 to drive the electromagnetic coil to work so as to realize force feedback, so that the electromagnetic coil outputs a stable current signal of 0-2A.
Further, the ARM single chip microcomputer adopts an STM32 single chip microcomputer based on a Cortex-M3 core.
Further, the D/a module realizes 12-bit digital-to-analog conversion through a chip MAX 7541.
The invention has the beneficial effects that:
1. on the principle of signal communication, the invention firstly carries out digital-to-analog conversion on the voltage signal (typical analog model) of the displacement sensor of the thrust frame, adds an A/D module and a D/A module, converts the analog signal into a digital signal before entering a PID-fuzzy algorithm module, greatly reduces the interference of electric, magnetic and thermal effects from an electric thruster, and improves the precision and the adjusting time of the thrust frame.
2. Aiming at the characteristics of slow swinging, long period and long adjusting time of the thrust frame, the PID feedback control operation and the Fuzzy control operation are combined, and the PID-Fuzzy switching control algorithm is applied to the adjustment and the control of the thrust frame, so that the adjusting time of a thrust frame system is greatly reduced, and the thrust frame can be more quickly in a balanced state.
3. The power amplifying circuit module of the invention realizes more stable current output of the electromagnetic coil, wider adjustable range of the thrust frame and high resolution of the thrust frame in a balanced state.
Drawings
In order to illustrate embodiments of the present invention or technical solutions in the prior art more clearly, the drawings which are needed in the embodiments will be briefly described below, so that the features and advantages of the present invention can be understood more clearly by referring to the drawings, which are schematic and should not be construed as limiting the present invention in any way, and for a person skilled in the art, other drawings can be obtained on the basis of these drawings without any inventive effort. Wherein:
FIG. 1 is a diagram of a thrust frame in relation to a control system of the present invention;
fig. 2 is a control flow diagram of the present invention.
The reference numbers illustrate:
1-counterweight; 2-a thrust frame moving frame; 3-a resilient pivot; 4-a displacement sensor; 5-a control system; 6-permanent magnet; 7-an electric thruster; 8-electromagnetic coil.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
As shown in fig. 1, the thrust frame and the control system of the present invention are related, and include a thrust frame moving frame 2, a counterweight 1, an elastic pivot 3, a displacement sensor 4, a permanent magnet 6, an electric thruster 7, an electromagnetic coil 8, and a control system 5. Firstly, debugging a thrust frame by using a balance weight 1 to enable a thrust frame moving frame 2 to stay at a fixed balance position and then swing; then the electric thruster 7 is ignited to generate thrust, the thrust pushes the thrust frame moving frame 2 to move, the thrust frame moving frame 2 can swing near a balance position due to the action of the elastic pivot 3, the moving displacement is detected by the displacement sensor 4 and input into the control system 5, the control system 5 drives the electromagnetic coil 8 to generate a corresponding magnetic field through PID-fuzzy operation, the magnetic field interacts with the permanent magnet 6 on the thrust frame moving frame 2 to generate feedback force to push the thrust frame moving frame 2 back to the balance position, and finally the feedback force is equal to the thrust of the electric thruster 7, and a thrust value is measured.
As shown in fig. 2, an ARM single-chip microcomputer control system for mN-level thrust frame measurement includes a power module, a communication module, an a/D module, an ARM single-chip microcomputer, a PID-fuzzy algorithm module, a D/a module, and a power amplification driving module, wherein the thrust frame is pushed for a certain distance under the action of a thruster, is detected by a displacement sensor, is input to the a/D module to convert an analog signal into a digital signal, and is input to the ARM single-chip microcomputer, an absolute value operation chip in the ARM single-chip microcomputer performs difference operation on voltage of a thrust frame equilibrium position, when the difference is 0, budget is terminated, the thrust frame is stable, and an output current value is a thrust equilibrium value; and when the difference value is not 0, inputting the difference value signal into an ARM single chip microcomputer chip to perform PID-Fuzzy switching control budget, inputting a digital signal into the D/A module by the operation structure, converting the digital signal into an analog signal, outputting the analog signal to the power amplification driving module, outputting feedback current to the electromagnetic coil by the power amplification driving module, and providing feedback force for the thrust frame by the electromagnetic coil so that the displacement sensor has new reading. The above processes are repeatedly circulated until the feedback force is constantly equal to the thrust force of the electric thruster, the thrust frame is balanced, and the circulation is terminated.
Specifically, the power supply module is used for supplying power to the ARM single chip microcomputer and the power amplification driving module;
the communication module is in USB serial port communication and is used for program downloading and the ARM single chip microcomputer is in communication with each module;
the A/D module is an input module of the control system, the input end of the A/D module is connected with the output end of the thrust frame displacement sensor, and an analog voltage signal output by the thrust frame displacement sensor is converted into a digital signal;
the ARM single chip microcomputer is used for realizing a PID-fuzzy algorithm module, performing triangular fuzzy processing on a digital signal output by the A/D module, and performing proportional, integral and differential operations;
the input end of the PID-fuzzy algorithm module is connected with the output end of the A/D module, the digital signal obtained by converting the displacement of the thrust frame is subjected to PID feedback control operation and fuzzy control operation, and the output end of the PID-fuzzy algorithm module is connected with the input end of the D/A module; the PID-fuzzy algorithm module can greatly reduce the adjusting time of the system and enable the thrust frame to reach a balanced state more quickly;
the D/A module converts the operation result of the PID-Fuzzy algorithm control module into an analog voltage signal and inputs the analog voltage signal into the power amplification driving module;
the power amplification driving module is an output module of the control system, performs power amplification on a voltage signal, converts the voltage signal into corresponding current to be directly output, outputs the current to flow into an electromagnetic coil of the thrust frame, enables the electromagnetic coil of the thrust frame to output a stable current signal, provides reverse thrust equal to the thrust of the electric thruster, further enables the thrust frame to generate new swing to reach a balance position, and finally reads the electromagnetic force corresponding to the output current value by the control system, so that the thrust measurement of the electric thruster is realized. The power amplification driving module realizes more stable current output of the electromagnetic coil, wider adjustable range of the thrust frame and high resolution of the thrust frame in a balanced state.
The power module supplies power to a USB interface of the ARM single chip microcomputer, 5V-to-3.3V level conversion is achieved by connecting the USB interface of the ARM single chip microcomputer with an AT24C02 chip, an external voltage-stabilizing direct-current power supply is used for supplying power AT +/-15V, and communication, data reading and writing and program compiling of the ARM single chip microcomputer are achieved through the USB interface.
The communication module is realized by a serial port chip PL2303 of the USB-to-single chip microcomputer, the USB directly utilizes a USB serial port pin of the ARM single chip microcomputer to communicate, machine codes are downloaded into the ARM single chip microcomputer, and a DTR (delay tolerant response) signal and an RTS (ready to send) signal of a serial port in a circuit can be configured on two pins of the STM32 single chip microcomputer.
The power amplification driving module is used for amplifying through a chip LF356 to form a proportional circuit so as to stabilize voltage and current signals, and then the power amplification driving electromagnetic coil works through a power amplification chip LM1875 so as to realize force feedback, so that the electromagnetic coil outputs a stable current signal of 0-2A.
The ARM singlechip adopts an STM32 singlechip based on a Cortex-M3 core.
The D/A module realizes 12-bit digital-to-analog conversion through a chip MAX 7541.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An ARM single-chip microcomputer control system for measuring a mN-level thrust frame is characterized by comprising a power supply module, a communication module, an A/D module, an ARM single-chip microcomputer, a PID-fuzzy algorithm module, a D/A module and a power amplification driving module, wherein,
the power supply module is used for supplying power to the ARM single chip microcomputer and the power amplification driving module;
the communication module is in USB serial port communication and is used for program downloading and the ARM single chip microcomputer is in communication with each module;
the A/D module is an input module of the control system, the input end of the A/D module is connected with the output end of the thrust frame displacement sensor, and an analog voltage signal output by the thrust frame displacement sensor is converted into a digital signal;
the ARM single chip microcomputer is used for realizing the PID-fuzzy algorithm module, performing triangular fuzzy processing on the digital signal output by the A/D module, and performing proportional, integral and differential operations;
the input end of the PID-fuzzy algorithm module is connected with the output end of the A/D module, the digital signal obtained by converting the displacement of the thrust frame is subjected to PID feedback control operation and fuzzy control operation, and the output end of the PID-fuzzy algorithm module is connected with the input end of the D/A module;
the D/A module converts the operation result of the PID-Fuzzy algorithm control module into an analog voltage signal and inputs the analog voltage signal into the power amplification driving module;
the power amplification driving module is an output module of the control system, performs power amplification on a voltage signal, converts the voltage signal into corresponding current to be directly output, outputs the current to flow into an electromagnetic coil of the thrust frame, enables the electromagnetic coil of the thrust frame to output a stable current signal, provides reverse thrust equal to the thrust of the electric thruster, further enables the thrust frame to generate new swing to reach a balance position, and finally reads the size of electromagnetic force corresponding to the output current value through the control system, so that the thrust measurement of the electric thruster is realized.
2. The ARM single-chip microcomputer control system for mN-level thrust frame measurement according to claim 1, wherein the power module supplies power to a USB interface of the ARM single-chip microcomputer, the USB interface of the ARM single-chip microcomputer is connected with an AT24C02 chip to realize 5V-3.3V level conversion, an external voltage-stabilizing direct-current power supply is used for +/-15V power supply, and communication, data reading and writing and program writing of the ARM single-chip microcomputer are realized through the USB interface.
3. The ARM single-chip microcomputer control system for mN-level thrust frame measurement as claimed in claim 1, wherein the communication module is implemented by using a USB to single-chip microcomputer serial port chip PL 2303.
4. The ARM single-chip microcomputer control system for mN-level thrust frame measurement according to claim 1, wherein the power amplification driving module amplifies through a chip LF356 to form a proportional circuit to stabilize voltage and current signals, and then realizes power amplification through a power amplification chip LM1875 to drive the electromagnetic coil to work to realize force feedback, so that the electromagnetic coil outputs a stable current signal of 0-2A.
5. The ARM single-chip microcomputer control system for mN-level thrust frame measurement as claimed in one of claims 1 to 4, wherein the ARM single-chip microcomputer adopts an STM32 single-chip microcomputer based on a Cortex-M3 core.
6. The ARM single-chip microcomputer control system for mN-level thrust frame measurement according to one of claims 1 to 4, wherein the D/A module realizes 12-digit analog-to-digital conversion through a chip MAX 7541.
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| CN110146208A (en) * | 2019-06-06 | 2019-08-20 | 北京航空航天大学 | A kind of device for measuring micro-thrust with on-line proving and locking function |
| CN110413015A (en) * | 2019-06-27 | 2019-11-05 | 北京控制工程研究所 | Micro- ox magnitude microthrust dynamic testboard and test method based on closed-loop control |
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Application publication date: 20201016 |