CN113220011A - Miniature CMG assembly module and assembly module control system - Google Patents
Miniature CMG assembly module and assembly module control system Download PDFInfo
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Abstract
A kind of miniature CMG assembly module and assembly module control system, CMG assembly module include N sequentially assembled CMG assemblies, frame axis Z of two control moment gyros that belong to the same CMG assembly point to the same; the axes of the control moment gyro frames in the two adjacent CMG combinations are directed to be orthogonal; and planes formed by the control moment gyros in the adjacent CMG assemblies are parallel to each other. The combination module control system includes: the device comprises a flywheel motor control module, a frame motor control module and a control unit; each CMG assembly is provided with a corresponding flywheel motor control module, a frame motor control module and a control unit. Aiming at the requirements of rapid design and rapid integration of the micro-nano satellite, the invention can realize single-axis attitude maneuver of the micro-nano satellite by a single module and realize the three-axis maneuver of the whole satellite by the combination of double modules through the electromechanical integration design.
Description
Technical Field
The invention relates to a miniature CMG assembly module and an assembly module control system, and belongs to the technical field of spacecraft attitude control.
Background
A micro Control Moment Gyroscope (CMG) is used as an attitude control actuating mechanism of the micro-nano satellite, so that the whole satellite can realize quick and large-range attitude maneuver, and the task execution capacity of the micro-nano satellite can be greatly improved.
The miniature CMG is combined to form a combined module, the structure part and the drive control circuit part are integrated and designed into the module, different attitude control capabilities are realized through combination among the modules, the requirements of rapid design and rapid manufacture of the micro-nano satellite can be met to the maximum extent, and the micro-nano satellite has wide application prospect.
The current CMG combination design generally connects the existing CMG mechanisms through a customized bracket.
The micro-vibration parallel vibration isolation device for the CN104443436B satellite control moment gyro group provides an installation mode for assembling a plurality of CMGs through the vibration isolation device, is independent of the CMGs, cannot realize the modular design of a combined structure, does not consider the integrated design of a structure and a drive control circuit, is only used for realizing the CMG configuration and installing on a whole satellite, and is suitable for the design of medium and large CMGs and satellite platforms suitable for the medium and large CMGs.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the micro CMG assembly module and the assembly module control system overcome the defects of the prior art, and can realize single-axis attitude maneuver of the micro-nano satellite through electromechanical integration design and whole-satellite three-axis maneuver through double-module combination aiming at the requirements of quick design and quick integration of the micro-nano satellite.
The technical scheme of the invention is as follows:
a CMG combo module comprising: n CMG assemblies which are sequentially assembled to form an N-layer structure, wherein N is a positive integer;
each CMG assembly includes: the control moment gyro comprises a dust cover and two control moment gyros which are arranged in the dust cover side by side; the frame axes Z of two control moment gyroscopes belonging to the same CMG combination body point to the same direction;
the axes of the control moment gyro frames in the two adjacent CMG combinations are directed to be orthogonal; planes formed by control moment gyros in adjacent CMG assemblies are parallel to each other;
a standardized interface is arranged on the dustproof cover; the standardized interface is used for fixedly connecting two adjacent CMG assemblies or realizing connection and positioning between the CMG assembly positioned at the lowest layer and the whole satellite.
The dustproof cover is a cuboid, and the bottom surface of the dustproof cover is square;
the bottom surface of the dust cover is used as a lower mounting surface, and the top surface of the dust cover is used as an upper mounting surface; the external interfaces of the upper mounting surface and the lower mounting surface are matched with each other.
When N is 1, the single CMG combination body is connected and positioned with the whole star through the lower mounting surface.
When N is 2, the connection and the positioning are realized through the lower mounting surface of the CMG assembly module positioned at the lowest layer and the whole star.
A CMG assembly module control system using the above CMG assembly module, further comprising: the device comprises a flywheel motor control module, a frame motor control module and a control unit; each CMG assembly is provided with a corresponding flywheel motor control module, a frame motor control module and a control unit;
flywheel motor control module: collecting a rotating speed pulse signal of a flywheel motor in a control moment gyroscope, converting the rotating speed pulse signal into a flywheel rotating speed value and transmitting the flywheel rotating speed value to a control unit; the control unit generates a flywheel rotating speed instruction, converts the flywheel rotating speed instruction into a rotating speed control level signal through rotating speed closed-loop control logic, and transmits the rotating speed control level signal to a flywheel motor driving circuit to control the flywheel to be stabilized at a set rotating speed;
frame motor control module: collecting a current signal and a frame corner of a frame motor in the control moment gyroscope, and carrying out differential processing according to the frame corner to obtain the variable quantity of the frame corner so as to determine the rotating speed of the frame in the control moment gyroscope; transmitting the rotation angle and the rotation speed of the frame to a control unit; and operating the rotating speed closed-loop control logic and the current closed-loop control logic according to the frame angular speed instruction given by the control unit, and outputting a control signal for driving the power tube to be switched on and off to a frame motor driving circuit.
The control period of the rotating speed closed-loop control logic and the current closed-loop control logic is less than 1 millisecond.
When the control unit is used as a single module controller to drive a single CMG assembly, the control unit receives an output torque instruction and a synchronizing signal sent by a spacecraft attitude control computer, operates the control rate corresponding to 2 CMGs, calculates a frame angular speed instruction and a flywheel rotating speed instruction for controlling the 2 CMGs, sends the frame angular speed instruction to the frame motor control module, and sends the flywheel rotating speed instruction to the flywheel motor control module for controlling the output torque of a corresponding control torque gyroscope.
When the two CMG assemblies are driven, the control unit corresponding to the CMG assembly connected with the spacecraft attitude control computer is used as a master control module, and the control unit corresponding to the other CMG assembly is used as a slave module;
the master control module sends a query instruction to the slave module through the interface module; when the master control module receives correct authentication data sent by the slave module, the master control module enters a working mode of the master control module, the master control module runs control rates corresponding to 4 CMGs, and a frame angular speed instruction and a flywheel rotating speed instruction for controlling 4 control moment gyroscopes are solved;
the main control module sends the frame angular speed instruction and the flywheel rotating speed instruction to a frame motor control module and a flywheel motor control module in the CMG assembly corresponding to the main control module, and controls the output torque of the gyro with corresponding control torque;
meanwhile, the master control module sends the frame angular speed instruction and the flywheel rotating speed instruction to the slave module through the communication serial port; and the slave module reads the instruction, and sends the reading instruction to the frame motor control module and the flywheel motor control module in the CMG assembly corresponding to the slave module to control the output torque of the gyro with the corresponding control torque.
The spacecraft attitude control computer sends a synchronization signal to the master control module, the master control module directly forwards the received synchronization signal to the slave module through a synchronization signal interface, and the slave module latches and processes the frame rotation angle, the frame angular velocity and the flywheel rotation speed of 2 control moment gyroscopes corresponding to the slave module as state data B after receiving the synchronization signal and transmits the state data B to the master control module through a communication serial port;
meanwhile, after receiving the synchronization signal, the main control module latches the frame rotation angle, the frame angular speed and the flywheel rotation speed of 2 CMGs corresponding to the main control module to be used as state data A;
and the master control module packs the state data A and the state data B and transmits the state data A and the state data B to the spacecraft attitude control computer.
And the main control module operates the control rates corresponding to the 4 CMGs according to the state data A and the state data B to obtain frame angular speed instructions and flywheel rotating speed instructions of the 4 control moment gyroscopes.
The value range of the synchronization signal period is 100-500 milliseconds.
Compared with the prior art, the invention has the beneficial effects that:
1) the invention adopts the parallel configuration combination of two micro CMGs, and realizes the agile attitude maneuver in the single-axis direction. The assembly is wrapped by a dust cover instead of a traditional sealing cover, so that the structure characteristics of the miniature CMG are adapted, and the structural design difficulty, the processing and assembling difficulty, the product cost and the manufacturing period are reduced; the combined connection of the combined modules is realized through the design of 90-degree phase difference of the mounting holes of the upper mounting surface and the lower mounting surface of the modules, and the three-axis maneuvering requirement of the satellite is met;
2) the invention adopts a control driving circuit to realize the framework of controlling two micro CMGs, reuses the main controller, reduces the volume, the weight and the power consumption, reduces the cost and realizes the standardization of the module; the flywheel motor driving circuit is integrated on the rotor assembly structure, so that independent control of the flywheel is realized, the number of transmission signals is reduced, the miniaturization and the light weight of the CMG structure are realized, and the reliability of products is improved.
3) The method utilizes the CMG combined controller to operate the combined body control rate, realizes the satellite attitude control algorithm, reduces the working pressure of the spacecraft attitude control computer, and promotes the optimal design of the whole satellite control system; a master-slave combination control framework is adopted, and the combination and cooperative control of the modules on the control logic are realized through signal synchronization and control logic design.
Drawings
FIG. 1 is a cross-sectional view of a module structure of a micro CMG assembly of the present invention;
FIG. 2 is a diagram of a two-module dual-parallel configuration according to the present invention;
FIG. 3 is an external view of a combination module of the present invention;
FIG. 4 is a block diagram of the mechanical and electrical integration system of the miniature CMG assembly of the present invention;
FIG. 5 is a block diagram of the combined electrical connection between the master control module and the slave control module according to the present invention.
Detailed Description
The invention provides a modularization method of a micro control moment gyroscope assembly, which is characterized in that according to the characteristics of a micro CMG, the whole machine is externally coated and designed to be a dust cover, so that the safety of a product is ensured, meanwhile, the weight is reduced, the complexity is reduced, and the process flow is reduced; control and drive circuits are integrated in a combination body, so that control of two CMG bodies by one circuit is realized, the CMG combination control rate is operated, components are fully multiplexed, the use flexibility of a user is improved, and the design difficulty of the whole satellite control system is reduced; the driving circuit of the flywheel motor is arranged on the flywheel assembly, so that signal transmission links are reduced, the reliability of the product is improved, and the miniaturization of the structure is realized; standardized mechanical interface, electrical interface design and assembly control system design have been carried out, and miniature CMG module can carry out nimble configuration, realizes using in combination according to the task demand, accomplishes unipolar, triaxial mobile task.
The invention is described in further detail below with reference to the figures and the detailed description.
A CMG combo module comprising: n CMG assemblies which are sequentially assembled to form an N-layer structure, wherein N is a positive integer; and a CMG assembly is fixedly arranged in each layer. The module of the micro CMG assembly is realized as shown in figure 1: the two micro CMGs are arranged on the whole machine base of the combination body through the supports respectively in a parallel configuration.
Each CMG assembly includes: the control moment gyro comprises a dust cover and two control moment gyros which are arranged in the dust cover side by side; the frame axes Z of two control moment gyroscopes belonging to the same CMG combination body point to the same direction;
the axes of the control moment gyro frames in the two adjacent CMG combinations are directed to be orthogonal; planes formed by control moment gyros in adjacent CMG assemblies are parallel to each other;
a standardized interface is arranged on the dustproof cover; the standardized interface is used for fixedly connecting two adjacent CMG assemblies or realizing connection and positioning between the CMG assembly positioned at the lowest layer and the whole satellite.
Because the miniature CMG high-speed rotor has small size, the diameter is generally not more than 80mm, the influence of wind resistance is small, the assembly body uses the dust cover to replace the conventional sealing cover, and the miniature CMGs on the two shafts are covered by the dust cover to prevent excess from entering. By adopting the design, the outer cover of the assembly does not bear atmospheric pressure, the requirement on the strength of the structure is greatly reduced, and the weight of the product is favorably reduced. Meanwhile, a series of processes such as vacuumizing, sealing, welding and the like are reduced, the development cost is reduced, the development period is shortened, and the requirements of low cost and quick response of the micro-nano satellite are met.
The structure and the interface of the dust cover are designed in a standardized way. The dustproof cover is a cuboid, and the bottom surface of the dustproof cover is square;
the bottom surface of the dust cover is used as a lower mounting surface, and the top surface of the dust cover is used as an upper mounting surface; the external interfaces of the lower mounting surface are a plurality of through holes in square layout, the external interfaces of the upper mounting surface are a plurality of threaded holes in square layout, and the external interfaces of the upper mounting surface and the lower mounting surface are matched with each other, namely, the hole pitch and the specification of the upper mounting surface and the specification of the lower mounting surface are consistent. When two adjacent CMG assemblies are combined, the lower mounting surface of the CMG assembly positioned on the upper layer is attached to the upper mounting surface of the CMG assembly positioned on the lower layer, and the connection and the positioning are realized through the through hole of the lower mounting surface of the upper module and the threaded hole of the upper mounting surface of the lower module.
Preferably, when N is 1, when the combined module is installed on the whole star, the single CMG combined body is connected and positioned with the whole star through the through hole of the lower installation surface.
Preferably, when N is 2, the combination module is connected and positioned with the whole star through the lower mounting surface through hole of the CMG combination module located at the lowermost layer when the combination module is mounted with the whole star.
In the invention, the assembly module is of a cuboid structure, the bottom surface is square, and the miniature CMG assembly module realizes a whole star mechanical interface by a lower mounting surface, so that the use is convenient; for a micro-nano satellite platform with triaxial rapid maneuvering requirements, a module combination of the micro CMG assembly module can be realized through a standardized interface, and a double-parallel-configuration assembly can be formed through the combination of the CMG assembly module to realize the triaxial maneuvering requirements of the satellite, as shown in fig. 2 and 3.
A CMG assembly module control system utilizing the above CMG assembly module, comprising: the device comprises a flywheel motor control module, a frame motor control module and a control unit; each CMG assembly is provided with a corresponding flywheel motor control module, a frame motor control module and a control unit.
Flywheel motor control module: collecting a rotating speed pulse signal of a flywheel motor in a control moment gyroscope, converting the rotating speed pulse signal into a flywheel rotating speed value, and transmitting the flywheel rotating speed value to a control unit; the control unit generates a flywheel rotating speed instruction, converts the flywheel rotating speed instruction into a rotating speed control level signal through rotating speed closed-loop control logic, and transmits the rotating speed control level signal to a flywheel motor driving circuit to control the flywheel to be stabilized at a set rotating speed;
frame motor control module: collecting a current signal and a frame corner of a frame motor in the control moment gyroscope, and obtaining the variable quantity of the frame corner according to frame corner differential processing so as to determine the rotating speed of the frame in the control moment gyroscope; transmitting the rotation angle and the rotation speed of the frame to a control unit; and operating the rotating speed closed-loop control logic and the current closed-loop control logic according to the frame angular speed instruction given by the control unit, and outputting a control signal for driving the power tube to be switched on and off to a frame motor driving circuit.
The control period of the rotating speed closed-loop control logic and the current closed-loop control logic is less than 1 millisecond. The current closed loop control logic requires the frame motor current signal as feedback.
The control unit has the capability of controlling 2 CMGs (single assembly modules) and 4 CMGs (dual module assemblies). When the control unit is used as a single module controller to drive a single CMG assembly, the control unit receives an output torque instruction and a synchronous signal (the synchronous signal is a level signal) sent by a spacecraft attitude control computer, when the rising edge of the synchronous signal arrives, the control unit reads the frame corner, the frame angular velocity and the flywheel rotating speed of 2 CMGs, operates the control rates corresponding to the 2 CMGs, calculates the frame angular velocity instruction and the flywheel rotating speed instruction for controlling the 2 CMGs, sends the frame angular velocity instruction to the frame motor control module, and sends the flywheel rotating speed instruction to the flywheel motor control module for controlling the output torque of a corresponding control torque gyroscope;
when the two CMG assemblies are driven, as shown in fig. 5, the control unit corresponding to the CMG assembly connected to the spacecraft attitude control computer is used as a master control module, and the control unit corresponding to the other CMG assembly is used as a slave module;
the master control module continuously sends a query instruction to the slave module through the interface module; when the master control module receives correct authentication data sent by the slave module, the master control module enters a working mode of the master control module, the master control module runs control rates corresponding to 4 CMGs, and a frame angular speed instruction and a flywheel rotating speed instruction for controlling 4 control moment gyroscopes are solved;
the main control module sends the frame angular speed instruction and the flywheel rotating speed instruction to a frame motor control module and a flywheel motor control module in the CMG assembly corresponding to the main control module, and controls the output torque of the gyro with corresponding control torque;
meanwhile, the master control module sends the frame angular speed instruction and the flywheel rotating speed instruction to the slave module through the communication serial port; the slave module reads the instruction, and sends the reading instruction to the frame motor control module and the flywheel motor control module in the CMG assembly corresponding to the slave module to control the output torque of the gyro with corresponding control torque;
the spacecraft attitude control computer sends a synchronization signal to the master control module, the master control module directly forwards the received synchronization signal to the slave module through the signal synchronization interface, and the slave module latches and processes the frame rotation angle, the frame angular velocity and the flywheel rotation speed of 2 control moment gyroscopes corresponding to the slave module as state data B after receiving the synchronization signal and transmits the state data B to the master control module through the communication serial port;
meanwhile, after receiving the synchronization signal, the main control module latches the frame rotation angle, the frame angular speed and the flywheel rotation speed of 2 CMGs corresponding to the main control module to be used as state data A;
and the master control module packs the state data A and the state data B and transmits the state data A and the state data B to the spacecraft attitude control computer.
And the main control module operates the control rates corresponding to the 4 CMGs according to the state data A and the state data B to obtain frame angular speed instructions and flywheel rotating speed instructions of the 4 control moment gyroscopes. The synchronous signal ensures that the difference of 4 CMG state data adopted by the main control module in the operation process is small in time.
The value range of the synchronization signal period is 100-500 milliseconds.
Examples
The mechanical and electrical integration system of the miniature CMG assembly is shown in figure 4. The micro CMG assembly is powered by an external bus and completes instruction receiving and sending state data transmission through a communication interface. The system comprises: the device comprises an interface circuit, a combined controller, a frame motor driving circuit, a frame driving assembly, a conducting ring, a flywheel motor driving circuit and a flywheel motor.
The combination controller includes: the device comprises a flywheel motor control module, a frame motor control module and a control unit. And the combination controller operates the control rate, gives control instructions of the frame motor and the flywheel motor according to the satellite attitude control instructions, operates a closed-loop control strategy of the flywheel motor and the frame motor, and gives driving logics of the frame motor and the flywheel motor. The frame motor driving circuit and the flywheel motor driving circuit drive the motor to rotate according to the logic signals, and state information is fed back to the controller, so that closed-loop control is realized.
The control and frame motor driving circuits of the two CMGs are concentrated on a circuit board and are installed on one side of the module, as shown in fig. 3, external electrical connection is realized by a connector, the connector only comprises a power supply interface, a communication interface and a synchronous signal interface, and the control and telemetering amount acquisition of the CMGs are realized through a group of (transceiving) communication serial ports. The frame motor driving circuit drives the motor to rotate according to the logic signal given by the controller, and feeds back information such as the rotation angle of the frame motor, the driving current and the like to the controller. A flywheel motor driving circuit of the miniature CMG is arranged on a flywheel assembly, the flywheel motor is controlled to stabilize the speed according to a level signal given by the controller, and a path of rotating speed pulse signal is provided for the controller to serve as flywheel speed feedback. The driving circuit of the flywheel motor adopts a single power supply to supply power. And the level control signal, the rotating speed pulse signal and the power supply are transmitted to the flywheel assembly through the conducting ring.
1) According to the invention, the parallel configuration of two micro CMGs is combined, so that agile attitude maneuver in a single-axis direction can be realized, and the attitude maneuver requirements of most of current micro-nano satellites can be met; the assembly is wrapped by a dust cover instead of a traditional sealing cover, so that the structure characteristics of the miniature CMG are adapted, the protection of external redundant materials is ensured, the structural design difficulty and the processing and assembling difficulty are reduced, the cost is reduced, and the development period is shortened; the modularized structure and the standardized mechanical interface can realize the combined connection of the assembly modules and meet the requirements of different micro/nano satellite attitude maneuvering tasks;
2) the invention adopts one control driving circuit to realize the control of two micro CMGs, reuses main components, designs a standardized external electrical interface, reduces the volume, the weight and the power consumption, reduces the cost and realizes the standardization of modules; the high-speed rotor driving circuit is integrated on the rotor assembly structure, so that the high-speed rotor is independently controlled, the signal transmission is reduced, the miniaturization and the light weight of the CMG structure are realized, and the product reliability is improved.
3) According to the invention, the powerful operational capability of a CMG control circuit is utilized, the CMG assembly control rate is operated, a satellite attitude control algorithm is realized, the working pressure of a micro/nano satellite control computer is effectively reduced, and the optimal design of the whole satellite control system is promoted; and a master-slave combination control framework is adopted, and the cooperative control of the combination modules is realized through signal synchronization.
The method for modularizing the miniature control moment assembly provided by the invention enables the CMG assembly module to have the advantages of compact structure, function integration, flexible combination and the like, can meet the application requirements of diversified tasks and rapid development of micro-nano satellites, and has good popularization and application prospects and quite strong market competitiveness.
Those skilled in the art will appreciate that the details of the invention not described in detail in the specification are within the skill of those skilled in the art.
Claims (11)
1. A CMG combo module, comprising: n CMG assemblies which are sequentially assembled to form an N-layer structure, wherein N is a positive integer;
each CMG assembly includes: the control moment gyro comprises a dust cover and two control moment gyros which are arranged in the dust cover side by side; the frame axes Z of two control moment gyroscopes belonging to the same CMG combination body point to the same direction;
the axes of the control moment gyro frames in the two adjacent CMG combinations are directed to be orthogonal; planes formed by control moment gyros in adjacent CMG assemblies are parallel to each other;
a standardized interface is arranged on the dustproof cover; the standardized interface is used for fixedly connecting two adjacent CMG assemblies or realizing connection and positioning between the CMG assembly positioned at the lowest layer and the whole satellite.
2. The CMG assembly module of claim 1, wherein: the dustproof cover is a cuboid, and the bottom surface of the dustproof cover is square;
the bottom surface of the dust cover is used as a lower mounting surface, and the top surface of the dust cover is used as an upper mounting surface; the external interfaces of the upper mounting surface and the lower mounting surface are matched with each other.
3. The CMG assembly module of claim 2, wherein: when N is 1, the single CMG combination body is connected and positioned with the whole star through the lower mounting surface.
4. The CMG assembly module of claim 2, wherein: when N is 2, the connection and the positioning are realized through the lower mounting surface of the CMG assembly module positioned at the lowest layer and the whole star.
5. A CMG complex module control system utilizing a CMG complex module of claim 1, further comprising: the device comprises a flywheel motor control module, a frame motor control module and a control unit; each CMG assembly is provided with a corresponding flywheel motor control module, a frame motor control module and a control unit;
flywheel motor control module: collecting a rotating speed pulse signal of a flywheel motor in a control moment gyroscope, converting the rotating speed pulse signal into a flywheel rotating speed value and transmitting the flywheel rotating speed value to a control unit; the control unit generates a flywheel rotating speed instruction, converts the flywheel rotating speed instruction into a rotating speed control level signal through rotating speed closed-loop control logic, and transmits the rotating speed control level signal to a flywheel motor driving circuit to control the flywheel to be stabilized at a set rotating speed;
frame motor control module: collecting a current signal and a frame corner of a frame motor in the control moment gyroscope, and carrying out differential processing according to the frame corner to obtain the variable quantity of the frame corner so as to determine the rotating speed of the frame in the control moment gyroscope; transmitting the rotation angle and the rotation speed of the frame to a control unit; and operating the rotating speed closed-loop control logic and the current closed-loop control logic according to the frame angular speed instruction given by the control unit, and outputting a control signal for driving the power tube to be switched on and off to a frame motor driving circuit.
6. The CMG assembly module control system of claim 5, wherein the control cycles of the speed closed loop control logic and the current closed loop control logic are each less than 1 millisecond.
7. The CMG assembly module control system of claim 6, wherein when the control unit is used as a single module controller to drive a single CMG assembly, the control unit receives an output torque command and a synchronization signal sent by the spacecraft attitude control computer, runs the control rates corresponding to 2 CMGs, calculates a frame angular velocity command and a flywheel rotational speed command for controlling the 2 CMGs, sends the frame angular velocity command to the frame motor control module, and sends the flywheel rotational speed command to the flywheel motor control module for controlling the output torque of the corresponding control torque gyroscope.
8. The CMG assembly module control system of claim 6, wherein when two CMG assemblies are driven, the control unit corresponding to the CMG assembly connected to the spacecraft attitude control computer is used as a master module, and the control unit corresponding to the other CMG assembly is used as a slave module;
the master control module sends a query instruction to the slave module through the interface module; when the master control module receives correct authentication data sent by the slave module, the master control module enters a working mode of the master control module, the master control module runs control rates corresponding to 4 CMGs, and a frame angular speed instruction and a flywheel rotating speed instruction for controlling 4 control moment gyroscopes are solved;
the main control module sends the frame angular speed instruction and the flywheel rotating speed instruction to a frame motor control module and a flywheel motor control module in the CMG assembly corresponding to the main control module, and controls the output torque of the gyro with corresponding control torque;
meanwhile, the master control module sends the frame angular speed instruction and the flywheel rotating speed instruction to the slave module through the communication serial port; and the slave module reads the instruction, and sends the reading instruction to the frame motor control module and the flywheel motor control module in the CMG assembly corresponding to the slave module to control the output torque of the gyro with the corresponding control torque.
9. The CMG complex module control system of claim 8, wherein: the spacecraft attitude control computer sends a synchronization signal to the master control module, the master control module directly forwards the received synchronization signal to the slave module through a synchronization signal interface, and the slave module latches and processes the frame rotation angle, the frame angular velocity and the flywheel rotation speed of 2 control moment gyroscopes corresponding to the slave module as state data B after receiving the synchronization signal and transmits the state data B to the master control module through a communication serial port;
meanwhile, after receiving the synchronization signal, the main control module latches the frame rotation angle, the frame angular speed and the flywheel rotation speed of 2 CMGs corresponding to the main control module to be used as state data A;
and the master control module packs the state data A and the state data B and transmits the state data A and the state data B to the spacecraft attitude control computer.
10. The CMG complex module control system of claim 9, wherein: and the main control module operates the control rates corresponding to the 4 CMGs according to the state data A and the state data B to obtain frame angular speed instructions and flywheel rotating speed instructions of the 4 control moment gyroscopes.
11. The CMG complex module control system of claim 9 or 10, wherein: the value range of the synchronization signal period is 100-500 milliseconds.
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Citations (8)
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