CN1974326A - Integrated magnetically suspended control moment gyroscope control platform - Google Patents
Integrated magnetically suspended control moment gyroscope control platform Download PDFInfo
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- CN1974326A CN1974326A CN 200610165165 CN200610165165A CN1974326A CN 1974326 A CN1974326 A CN 1974326A CN 200610165165 CN200610165165 CN 200610165165 CN 200610165165 A CN200610165165 A CN 200610165165A CN 1974326 A CN1974326 A CN 1974326A
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Abstract
The integrated magnetically suspended control moment gyroscope control platform for the integrated control of the magnetically suspended control moment gyroscope system includes mainly an application layer, a system layer, a field bus and a control layer. The application layer on the control layer completes the signal data acquisition, complicated algorithm calculation and monitoring, and includes a state acquisition module, a monitoring module, a communication module and a man-machine interface module. The system layer providing the application layer with operation platform and real-time datum includes an application platform based on CORBA protocol, a RTOS and an embedded hardware system. The control layer completes the control on the current loop of the controlled parts, including FPGA motion control card based on Nios II, high speed motor, frame motor, etc. The system layer communicates with the control layer through the field bus.
Description
Technical field
The present invention relates to a kind of integrated magnetically suspended control moment gyroscope control platform, be mainly used in the aerospace field attitude control system.
Background technology
Control moment gyroscope is an attitude control actuator important on Large Spacecraft and the space station, magnetic suspension control torque gyroscope has advantages such as big moment output, low vibration with respect to traditional mechanical control moment gyro, so have broad application prospects on high precision large-sized satellite and space station.
The Fu of conventional magnetic levitation control moment gyroscope all is to carry out centralized control according to different parts, as high-speed electric expreess locomotive there being a cover controller, the framework servomotor is had a cover control system, and magnetic bearing is had a cover control system.Therefore can't carry out the actv. high speed communication between the controlled parts, and if controlled parts change or just must do very big change when adding to relevant hardware.Consider from the economy aspect that in addition existing systems must be used more advanced CPU if guarantee each controlled parts High Accuracy Control, can cause waste very big on the resource and utilize the CPU of high speed high integration only parts to be controlled.If use the CPU of high speed high integration a plurality of parts are controlled, then had the not enough problem of arithmetic capability of CPU.Therefore there is the problem that can't carry out actv. high speed communication, system flexibility difference and the wasting of resources between the controlled parts in prior art.The control platform of high integration of the present invention is carried out distributed control to whole gyrosystem, adopts a cover control system, has solved the problem that can't carry out the actv. high speed communication between the controlled parts; Adopt the application platform of component technology, strengthened the flexibility of service software, for dynamic-configuration CORBA application program provides greater flexibility; Employing has been avoided the problem of the wasting of resources of advanced CPU based on the FPGA motion control card of NiosII, has simplified circuit, has reduced the power consumption of total system.
Summary of the invention
Technology of the present invention is dealt with problems and is: the deficiency at prior art exists provides a kind of integrated magnetically suspended control moment gyroscope control platform.
Technical solution of the present invention is: a kind of integrated magnetically suspended control moment gyroscope control platform is characterized in that: comprise application layer, system layer, fieldbus and key-course.Application layer is mainly finished the state acquisition and the monitoring function of system.System layer is whole flat-bed basis of software, relies on the system that is operating as of software that real-time benchmark is provided.Key-course then is the control of controlled object being carried out bottom, and carries out high speed communication by fieldbus and system layer.Application layer comprises state acquisition module, monitoring module, communication module and human-machine interface module.The state acquisition module is given monitoring module to electric current, speed, the position signal collection of controlled object.Monitoring module reception institute image data is controlled controlled object and is connected with human-machine interface module by communication module, and human-machine interface module reception external command is controlled platform and communication module is caught the data of coming and shows.System layer comprises based on the application platform of CORBA agreement, RTOS (real time operating system (RTOS)) and embedded system hardware.RTOS (real time operating system (RTOS)) is by revising linux kernel and RTAI being installed in amended new kernel setting up, this system is based upon on the embedded system hardware basis, application platform based on the CORBA agreement goes up foundation at RTOS (real time operating system (RTOS)), on this application platform, finish the closed loop computing of high-speed electric expreess locomotive speed ring, complex calculation such as frame motor speed ring, position ring, adaptive feedforward, friciton compensation and interference observer, the computing of magnetic bearing position ring and feedforward.Key-course comprises that the FPGA motion control card based on NiosII reaches the controlled object of being made up of high-speed electric expreess locomotive, frame motor, magnetic bearing and the cooresponding servoamplifier of each controlled parts.FPGA motion control based on NiosII is stuck in the configuration of carrying out NiosII kernel, DSP coprocessor, timer and associated components on the fpga chip, can finish the closed loop control of whole magnetic suspension control torque gyroscope Fu electric current loop.
Principle of the present invention is: electric current, speed and the position signal of gathering controlled object by the state acquisition module.Current signal enters the FPGA motion control card by current sensor, realizes the closed loop computing of electric current loop by programming under NiosII.Real time operating system (RTOS) is installed on embedded system hardware on the system layer, and in this system, sets up application platform based on the CORBA agreement.Finish high-speed electric expreess locomotive speed ring closed loop algorithm at this platform, finish the algorithm of the closed loop algorithm of the speed ring of frame motor and position ring and feedforward, interference observer, finish the closed loop algorithm and the feedforward arithmetic of magnetic bearing position ring.Application layer is mainly finished the monitoring function of total system.After data on the system layer are sent to application layer, finally arrive human-machine interface module through monitoring module, communication module, the operator can observe the state of current system and it is controlled by man machine interface.
The present invention's advantage compared with prior art is:
(1) the present invention has set up the control platform of magnetic suspension control torque gyroscope, and the centralized control of existing each parts is changed into distributed control, can be easy to handle the interrelation between each parts, and total system is unified control.
(2) the present invention has disposed RTOS (real time operating system (RTOS)) on embedded system hardware, and has set up the application platform based on the CORBA agreement on this operating system.Wherein RTOS (real time operating system (RTOS)) is based upon on the embedded system hardware, and it is by revising linux kernel and RTAI is installed in amended new kernel disposes, set up the application platform based on the CORBA agreement on this operating system.By on this platform, setting up assembly at each controlled parts, realize control to each parts, owing to adopt advanced embedded system hardware, improved arithmetic speed and operational precision.
(3) compare with existing controller at each controlled parts, the present invention adopts the FPGA motion control card based on NiosII, the Digital Logic processing is integrated in the monolithic system with computing, not only can solve the not high problem of current integrated control system arithmetic speed and control accuracy but also avoid the wasting of resources problem of advanced CPU, reduce the power consumption of total system simultaneously.
In a word, control platform of the present invention makes The whole control system more integrated, has reduced the wasting of resources, has solved the problem of communication between each parts.This design simplification circuit, reduced the power consumption of system, improved the flexibility and the antijamming capability of system.
Description of drawings
Fig. 1 is the structure composition frame chart of control platform of the present invention;
Fig. 2 is the application platform configuration flow figure based on the CORBA agreement of the present invention;
Fig. 3 is an embedded system hardware constructional drawing of the present invention;
Fig. 4 is an assembly assumption diagram of the present invention;
Fig. 5 is the FPGA motion control card main functional modules constructional drawing based on NiosII of the present invention.
The specific embodiment
As shown in Figure 1, the controlled parts of the magnetic suspension control torque gyroscope that present embodiment adopted comprise high-speed electric expreess locomotive A, high-speed electric expreess locomotive B, framework servomotor, magnetic bearing A, magnetic bearing B and magnetic bearing Z.The present invention includes application layer 1, system layer 2, fieldbus 3 and key-course 4.Application layer 1 is based upon on the system layer 2, and 2 of system layer are carried out communication by fieldbus 3 and key-course 4.Application layer 1 comprises state acquisition module 5, monitoring module 6, communication module 7 and human-machine interface module 8, mainly finishes data acquisition, complicated algorithm computing and the monitoring function of sensor.Electric current, speed, position and the magnetic bearing A of 5 couples of high-speed electric expreess locomotive A of state acquisition module, high-speed electric expreess locomotive B, frame motor, the electric current of magnetic bearing B, magnetic bearing Z and the data collection of position signal are given monitoring module 6.Monitoring module 6 reception data are finished the speed ring closed loop algorithm to high-speed electric expreess locomotive A, high-speed electric expreess locomotive B, the speed ring of framework servomotor and the algorithm of position ring, the position ring algorithm of magnetic bearing A, magnetic bearing B and magnetic bearing Z, and is connected with human-machine interface module 8 by communication module 7, the data that human-machine interface module 8 reception external commands are controlled system and communication module 7 is caught show.System layer 2 comprises application platform 9, RTOS (real time operating system (RTOS)) 10 and the embedded system hardware 11 based on the CORBA agreement.(SuSE) Linux OS at first is installed on embedded system hardware, by revising the (SuSE) Linux OS kernel and RTAI being installed in amended new kernel setting up RTOS (real time operating system (RTOS)) 10, application platform 9 based on the CORBA agreement is set up on RTOS (real time operating system (RTOS)) 10, on this application platform 9, finish the closed loop computing of the speed ring of high-speed electric expreess locomotive A, high-speed electric expreess locomotive B, complex calculation such as frame motor speed ring, position ring, feedforward, friciton compensation and interference observer, the computing of magnetic bearing A, magnetic bearing B, magnetic bearing Z position ring and feedforward.Key-course 4 comprises based on the FPGA motion control card 12 of NiosII and the controlled object of being made up of high-speed electric expreess locomotive A, high-speed electric expreess locomotive B, framework servomotor, magnetic bearing A, magnetic bearing B and magnetic bearing Z and their pairing servoamplifiers 13.On fpga chip, carry out the configuration of NiosII kernel, DSP coprocessor, timer and associated components based on the FPGA motion control card 12 of NiosII, can finish the closed loop control of whole magnetic suspension control torque gyroscope Fu electric current loop by the current signal of gathering current sensor, the position signal of collection position sensor, and be sent to embedded system hardware by fieldbus this position signal and through the current signal of A/D conversion, arrive the state acquisition module at last.
As shown in Figure 2, the application platform based on the CORBA agreement of the present invention needs to carry out following configuration on hardware foundation: dead work → installation RTAI patch → compiling is set up the new kernel of Linux → installation RTAI → compiling ACE → compiling installation TAO → compiling installation CIAO is installed.By above step, TAO and CIAO install in the RTAI system, total system not only have meet POSIX 1003 standards real-time kernel as operating system, and the CORBA bus that TAO provided not only can satisfy the real-time communication demand, realize the predictability of task scheduling, CIAO can also provide the support for component specifications, has satisfied the condition of developing quick reconfigurable CNC system functional module.
As shown in Figure 3, embedded system hardware of the present invention adopts the X86CPU system, adopts ripe All-in-One mainboard, and supports the PC104 bus, and building for the foundation of operating system and flat-bed provides hardware supported.Whole embedded system comprises button, demonstration, power supply, X86CPU mainboard.Wherein button and demonstration belong to human-machine interface module, and they are to be integrated on the X86CPU mainboard with the module of power supply and other complementary function.
As shown in Figure 4, be assembly assumption diagram of the present invention.Assembly all is to set up on based on the application platform 9 of CORBA agreement.Comprising internal module, external module, micronucleus API, device drives, communication system, the real-time oss embedded system hardware of unifying.The task of micronucleus comprises communication system and device driver system.The internal application assembly is the expansion of micronucleus, and it is made up of following assembly: 1. assembly is upgraded in scheduling, and the virtual time of controller mainly is provided, and promptly synchronous the and time reference of the clock of controller is responsible for regulation incident constantly simultaneously and is sent; 2. scanner component is the hard real time assembly, be responsible for access means and drive, and with deposit data in the data structure of concrete application; 3. actuator assembly also is the hard real time assembly, mainly the information that receives is sent to the hardware driving of high-speed electric expreess locomotive, frame motor and magnetic bearing.External module comprises high-speed electric expreess locomotive A control assembly, high-speed electric expreess locomotive B control assembly, frame motor control assembly and magnetic bearings control assembly.Each assembly of external module is all set up at controlled object.
As shown in Figure 5, FPGA motion control card based on NiosII of the present invention, FPGA selects the Stratix chip of altera corp for use, comprising: FIFO, Avalon tristate bus line in 32 NiosII kernels, DSP coprocessor, jtag interface, timer, BOOT ROM, the sheet.Computing machine carries out debugging programming by jtag interface to FPGA, the NiosII kernel is controlled peripheral hardwares such as sdram interface, position transdusers by the Avalon tristate bus line, the DSP coprocessor is used for mass data is handled under the control of NiosII kernel, and FIFO dispatches by the NiosII kernel as resource in the sheet in timer, BOOT ROM, the sheet.Utilize SOPC Builder design NiosII kernel, design input, compiling, programming setting and software source program design with QuartusII, the company that carries out software with GNUPro compiles and debugging.Wherein the FPGA system need dispose the DSP coprocessor, by customizing the instruction of some traditional DSP operational orders or recurrent computation-intensive algorithm, quickens the processing capacity of CPU, and its IP kernel is assisted realization by DSP Builder.By the real-time of configuration timer with assurance hardware handles information.Except that chip selection signal, the A/D interface sequence is observed the SPI agreement, has selected corresponding IP among the SOPC for use, and for chip selection signal, universaling I/O port of extra interpolation is controlled in system.By application configuration PWM, by the servoamplifier of giving each controlled parts after the light-coupled isolation.In FPGA, embed the direction that the NiosII kernel is the industrial technology development, with the hardware design software implementation, and this method of designing can be done careful analog simulation comprehensively to hardware, reduced the mistake of hardware design, effectively reduce cost of development, and this method belongs to One Chip Solutions, thereby simplify circuit structure, reduce the power consumption of control circuit, improve the integrated level of circuit, the reliability and the robustness of system.
Though the present invention is single magnetically suspended control moment gyroscope control platform, also can form magnetic suspension control torque gyroscope group's control platform by the component software on controlled parts and the system layer.As a kind of digital control platform of general-duty exploitation formula, application person can realize its function by revising software flexibly and easily according to its special application.
Claims (4)
1, a kind of integrated magnetically suspended control moment gyroscope control platform, it is characterized in that: comprise application layer (1), system layer (2), fieldbus (3) and key-course (4), application layer (1) comprises state acquisition module (5), monitoring module (6), communication module (7) and human-machine interface module (8); Application layer (1) is based upon on the system layer (2), mainly finishes data acquisition, complicated algorithm computing and the monitoring function of signal; System layer (2) comprises application platform (9), RTOS (real time operating system (RTOS)) (10) and the embedded system hardware (11) based on the CORBA agreement, for application layer (1) provides service platform and real-time benchmark, and carry out communication, the process variable in the exchange controlling unit by fieldbus (3) and key-course (4); Key-course (4) comprises based on the FPGA motion control card (12) of Nios II and by the controlled object (13) that high-speed electric expreess locomotive, frame motor, magnetic bearing and their pairing servoamplifiers are formed, finishes the control to the electric current loop of controlled object.
2, a kind of integrated magnetically suspended control moment gyroscope control platform according to claim 1, it is characterized in that: the state acquisition module (5) in the described application layer (1) is to the electric current of controlled object (13), speed, monitoring module (6) is gathered and sent in the position, the data that monitoring module (6) reception is gathered are controlled controlled object and are connected with human-machine interface module (8) by communication module (7), and human-machine interface module (8) reception external command is controlled control platform and communication module (7) is caught next electric current, speed, position signals shows.
3, a kind of integrated magnetically suspended control moment gyroscope control platform according to claim 1, it is characterized in that: the RTOS (real time operating system (RTOS)) (10) in the described system layer (2) is based upon on the embedded system hardware (11), by revising linux kernel and RTAI being installed in amended new kernel disposing, on this operating system, set up application platform (9) based on the CORBA agreement, on this application platform, finish the closed loop computing of the speed ring of high-speed electric expreess locomotive, the frame motor speed ring, position ring, feedforward, complex calculation such as friciton compensation and interference observer, the computing of magnetic bearing position ring and feedforward.
4, a kind of integrated magnetically suspended control moment gyroscope control platform according to claim 1, it is characterized in that: on a slice fpga chip, carry out the configuration of Nios II kernel, DSP coprocessor, timer and associated components based on the FPGA motion control card (12) of Nios II in the described key-course (4), can finish the closed loop control of whole magnetic suspension control torque gyroscope Fu electric current loop.
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| CNB200610165165XA CN100441483C (en) | 2006-12-14 | 2006-12-14 | Integrated magnetically suspended control moment gyroscope control platform |
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| CNB200610165165XA CN100441483C (en) | 2006-12-14 | 2006-12-14 | Integrated magnetically suspended control moment gyroscope control platform |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102393656A (en) * | 2011-11-29 | 2012-03-28 | 北京邮电大学 | Embedded multinuclear main controller of modular robot based on FPGA (Field Programmable Gata Array) |
| CN104044756A (en) * | 2014-06-09 | 2014-09-17 | 中国科学院长春光学精密机械与物理研究所 | High-integration high-precision servo control device for control moment gyros |
| CN105159083A (en) * | 2015-09-06 | 2015-12-16 | 北京航空航天大学 | High-precision friction compensation control method of double-frame magnetic levitation CMG frame system |
| CN110262331A (en) * | 2019-06-12 | 2019-09-20 | 北京航天控制仪器研究所 | It is a kind of adapt to moving base calibration multi-mode gyro add square and aim at interface circuit |
| CN112989627A (en) * | 2021-04-16 | 2021-06-18 | 成都赢瑞科技有限公司 | Multidisciplinary joint simulation system and method based on virtual time |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1285919A (en) * | 1968-09-27 | 1972-08-16 | Tokyo Shibaura Electric Co | A device for automatically controlling the attitude of a space satellite utilizing geomagnetic field |
| US5413293A (en) * | 1992-12-22 | 1995-05-09 | Hughes Aircraft Company | Magnetic torque attitude control systems |
| FR2850948B1 (en) * | 2003-02-07 | 2006-01-06 | Astrium Sas | DEVICE FOR CONTROLLING THE ATTITUDE OF A SATELLITE BY GYROSCOPIC ACTUATORS |
| CN100367137C (en) * | 2006-06-02 | 2008-02-06 | 北京航空航天大学 | Integral high precision control moment gyro gimbal servo digital controller |
-
2006
- 2006-12-14 CN CNB200610165165XA patent/CN100441483C/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102393656A (en) * | 2011-11-29 | 2012-03-28 | 北京邮电大学 | Embedded multinuclear main controller of modular robot based on FPGA (Field Programmable Gata Array) |
| CN104044756A (en) * | 2014-06-09 | 2014-09-17 | 中国科学院长春光学精密机械与物理研究所 | High-integration high-precision servo control device for control moment gyros |
| CN104044756B (en) * | 2014-06-09 | 2016-04-27 | 中国科学院长春光学精密机械与物理研究所 | High integrated high precision control moment gyro group Servocontrol device |
| CN105159083A (en) * | 2015-09-06 | 2015-12-16 | 北京航空航天大学 | High-precision friction compensation control method of double-frame magnetic levitation CMG frame system |
| CN105159083B (en) * | 2015-09-06 | 2017-10-24 | 北京航空航天大学 | A kind of high-precision friciton compensation control method of double-frame magnetic suspension CMG frame systems |
| CN110262331A (en) * | 2019-06-12 | 2019-09-20 | 北京航天控制仪器研究所 | It is a kind of adapt to moving base calibration multi-mode gyro add square and aim at interface circuit |
| CN110262331B (en) * | 2019-06-12 | 2020-08-14 | 北京航天控制仪器研究所 | Multi-mode gyro moment-adding and aiming interface circuit adaptive to movable base calibration |
| CN112989627A (en) * | 2021-04-16 | 2021-06-18 | 成都赢瑞科技有限公司 | Multidisciplinary joint simulation system and method based on virtual time |
| CN112989627B (en) * | 2021-04-16 | 2021-08-13 | 成都赢瑞科技有限公司 | Multidisciplinary joint simulation system and method based on virtual time |
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