CN212272412U - Ducted fan constant torque output controller and satellite simulator - Google Patents
Ducted fan constant torque output controller and satellite simulator Download PDFInfo
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Abstract
The utility model provides a ducted fan constant torque output controller, including main control unit, current acquisition unit, voltage acquisition unit, AD conversion unit, communication unit, PWM drive unit and power management unit, PWM drive unit includes level conversion chip and its peripheral circuit that converts the TTL signal into COMS logic level, the input of level conversion chip is connected with the main control unit, and the output is connected with the electronic governor of ducted fan; the power supply management unit comprises a plurality of voltage conversion chips; the current acquisition unit is a linear Hall element current sensor and acquires a current signal on a connecting circuit between the power management unit and the PWM driving unit; the voltage acquisition unit acquires the voltage signal of the power management unit through a signal amplifier chip and outputs the voltage signal to the main control chip. The controller adopt the power closed-loop control mode, realized the permanent moment of torsion output control of duct fan.
Description
Technical Field
The utility model belongs to the technical field of spacecraft ground full physical simulation thrust test, thruster ground analog simulation, especially, relate to a duct fan constant torque output controller and satellite simulator.
Background
In a ground full-physical simulation test of a spacecraft control system, a multi-degree-of-freedom air floating platform mainly realizes gravity unloading on the ground and provides a full-physical simulator which is equal to a spacecraft in a space weightless state, so that ground test means are provided for satellite formation flight, orbital transfer flight, rendezvous and docking, asteroid landing and the like. The power device widely applied in the simulation test process utilizes the working medium to jet to generate reaction thrust, and generates force or simultaneously generates force and moment according to whether the thrust vector passes through the mass center of the spacecraft, so that the power device can be used for attitude control and can also be used for the application of orbit control.
The common propulsion systems on the satellite include cold air, single-component, double-component and electric propulsion. In a spacecraft ground full-physical simulation test system, in order to realize the control of the position and the attitude of a spacecraft simulator, a propulsion system equivalent to a satellite thermochemical propulsion system is required to be equipped so as to meet the requirements of the test system. Because the on-board propulsion system with high pollution and high cost is difficult to be practically adopted in a ground test, a low-cost thruster simulation device with a simple structure and small exhaust pollution needs to be designed. For a long time, the traditional ground test thrusters all adopt a high-pressure cold air thruster form, but the thrusters have the following obvious defects:
(1) the specific impulse is small, the air consumption is great, and the test efficiency is seriously influenced. Taking a 10N cold air thruster as an example, the air consumption flow rate can reach 1200L/min, and the air consumption of the air bearing is basically below 120L/min, and the difference between the air consumption and the air bearing is 10 times. The total volume 9L 3 of the air bottle of the attitude control platform of a certain six-degree-of-freedom simulator is 27L, and the six-degree-of-freedom simulator is used by two groups of normal-pressure 10N cold air thrusters.
T＝((25-5)*10*27)/(2*1200)≈2.25min
The gas cylinder is a high-pressure nitrogen cylinder, the maximum inflation limit is 25MPa under the general condition, the outlet of the gas cylinder is 5MPa under the general condition, so that the pressure difference is 20MPa, and the volume of 27L is about 0.1013MPa under 1 standard atmosphere, so that the actual total volume of the gas is about (25-5) × 10 × 27L; therefore, the cold air thrust unit is the largest output end of the air source on the platform, and the test efficiency is seriously influenced due to the extremely complicated high-pressure inflation process and long preparation period.
(2) There is a large offset in the center of mass, causing a large disturbance moment.
The mass consumption of the gas working medium can cause the large deviation of the mass center of the table body, and the three-shaft air-float ball bearing is very sensitive to the deviation of the mass center, so that the very complicated precise leveling of the mass center is required at the initial stage of the test. However, the center of mass generated in the test process is deviated, and the leveling mechanism cannot compensate, so that very obvious interference torque can be generated, and the test precision is greatly influenced.
The ducted fan is arranged on the spacecraft ground simulator to provide strong and constant thrust for the spacecraft ground simulator, so that the defects of the high-pressure cold air thruster can be avoided. However, this requires the ducted fan to be compact and have a large output torque holding capability. The torque output of a general ducted fan is mainly controlled by an open loop, and the control mode not only reduces the stability of the torque output, but also cannot ensure the real-time performance of the torque control.
Disclosure of Invention
In view of this, the present invention provides a ducted fan constant torque output controller and a satellite simulator, which realize the constant torque output control of the ducted fan.
In order to achieve the above purpose, the technical scheme of the utility model is realized like this:
in a first aspect, the present application provides a ducted fan constant torque output controller, comprising a main control unit, a current collection unit, a voltage collection unit, an AD conversion unit, a communication unit, a PWM driving unit, and a power management unit,
the main control unit comprises a main control chip, and a reset circuit and a clock circuit which are integrated outside the main control chip, wherein the reset circuit completes power-on reset and fault reset functions through a touch switch, and the clock circuit adopts an external crystal oscillator to provide clock signals for the main control chip; the AD conversion unit is an ADC module arranged in the main control chip;
the PWM driving unit comprises a level conversion chip for converting TTL signals into COMS logic levels and a peripheral circuit thereof, wherein the input end of the level conversion chip is connected with the main control unit, and the output end of the level conversion chip is connected with the electric regulator of the ducted fan;
the power supply management unit comprises a plurality of voltage conversion chips, the input end of each voltage conversion chip is connected with an external battery, and the output end of each voltage conversion chip is connected with the main control unit, the PWM driving unit, the current acquisition unit and the voltage acquisition unit and is used for converting the input battery voltage into a plurality of voltages required by the controller;
the current acquisition unit is a linear Hall element current sensor, acquires a current signal on a connecting line between the power management unit and the PWM driving unit, and outputs the current signal to the main control chip through the AD conversion unit;
the voltage acquisition unit comprises a signal amplifier chip and a peripheral circuit thereof, and acquires a voltage signal of the power management unit through the signal amplifier chip and outputs the voltage signal to the main control chip through the AD conversion unit; the main control unit is in signal connection with an upper computer through the communication unit.
In a second aspect, the present application provides a satellite simulator having a simulation thruster, the simulation thruster includes a plurality of ducted fans of the above-mentioned controller, and the ducted fans are installed in front, rear, left and right directions within a horizontal range of the satellite simulator.
Compared with the prior art, the controller of the utility model has the following advantages:
(1) the controller of the utility model obtains the voltage and current operation parameters of the ducted fan in real time, adopts a power closed-loop control mode, controls the output power through a PID algorithm, and realizes the stable output of the torque of the ducted fan; meanwhile, the real-time performance of torque control is ensured;
(2) the controller of the utility model realizes the constant torque output control, so that the vane tip of the electric ducted fan is limited by the ducted passage propulsion device, the induced resistance is reduced, the thrust conversion efficiency is high, the gas working medium is not required to be consumed, the inflation time is shortened, the mass center can not deviate and change in the test process, the corresponding control problem is further simplified, and the test precision is improved; the related research, development and manufacturing cost is about 20% of that of the traditional method, the test cost is greatly saved, and the economic benefit is remarkable.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:
fig. 1 is a block diagram of a controller according to an embodiment of the present invention;
fig. 2 is a circuit diagram of a main control unit according to an embodiment of the present invention;
fig. 3 is a circuit diagram of a current collecting unit according to an embodiment of the present invention;
fig. 4 is a circuit diagram of a voltage acquisition unit according to an embodiment of the present invention;
fig. 5 is a circuit diagram of a communication unit according to an embodiment of the present invention;
fig. 6 is a circuit diagram of a PWM driving unit according to an embodiment of the present invention;
fig. 7 is a circuit diagram of a power management unit according to an embodiment of the present invention;
fig. 8 is a flowchart illustrating a main process of the controller according to an embodiment of the present invention;
fig. 9 is a flowchart of an interrupt procedure according to an embodiment of the present invention.
Detailed Description
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The ducted fan in the proposal is arranged in the front, back, left and right directions in the horizontal range of the satellite simulator, is equivalent to a thruster which is arranged on a satellite body by a cold air nozzle and is used for simulating the control processes of satellite attitude adjustment, orbit transfer and the like.
A block diagram of a ducted fan closed-loop controller of this embodiment is shown in fig. 1, a hardware portion of the ducted fan closed-loop controller is composed of seven portions, namely a main control unit, a current collection unit, a voltage collection unit, an Analog to Digital (AD) conversion unit, a communication unit, a Pulse Width Modulation (PWM) driving unit, and a power management unit, and an internal connection relationship thereof is described in detail below with reference to a specific circuit diagram:
fig. 1 is a schematic diagram of a circuit structure of the controller, a +24V battery power supply interface, a PWM driving interface and an RS-232 communication interface are reserved outside the controller, and a main control unit, a current acquisition unit, a voltage acquisition unit, an AD conversion unit, a communication unit, a PWM driving unit and a power management unit are integrated inside the controller.
Fig. 2 is a circuit diagram of the main control unit, and the main control unit is mainly responsible for data processing of the controller. The main control unit takes TMS320F28335(DSP) as a control core, and a reset circuit and a clock circuit are integrated externally. The reset circuit completes power-on reset and fault reset functions through the tact switch; the clock circuit adopts a 30MHz external crystal oscillator to improve the needed clock signal for the DSP. The AD conversion unit is a TMS320F28335 built-in (sample and hold) S/H12-bit ADC module, the input range of analog signals is 0V-3V, and the acquisition speed per hour is up to 80ns on a 25MHz ADC clock. The connection relationship is as follows: the 1 is a main control chip TMS320F28335 of the main control unit, a VSS pin of the TMS320F28335 is connected with GND, a VDD pin is connected with +1.8V, a VDDIO pin is connected with +3.3V, a 30MHz crystal oscillator is selected, pins 1 and 2 of the crystal oscillator are respectively connected with pins 102 and 104 of the main control chip, capacitors C1 and C2 are adopted for filtering, and the capacitance value is 22 pF; in addition, the RST pin and the MR pin of the main control chip need to be connected with +3.3V pull-up, and the pull-up resistor R1 is 4.7K.
Fig. 3 is a circuit diagram of the current collection unit, and the current collection unit collects the operating current parameters of the ducted fan by using an ACS758LCB-050B linear hall element current sensor. The current sensor has a supply voltage of 5V, a bandwidth of 120KHz, an amplifier and a filter are integrated in the current sensor, the signal output range is 2.5V-5V, and the signal subjected to voltage division can be directly input into an AD conversion unit. Specifically, 2 is a current acquisition chip ACS785LCB of the current acquisition unit, a pin 1 of the ACS785LCB is connected to a +5V power supply, and filtering is performed by using a capacitor C3, wherein the capacitance value is 0.1 uF; 2, grounding the pin; the 4-pin IP + and the 5-pin IP-are respectively connected with the input and the output of the current of the controller, specifically, the 4-pin IP + is connected with the output positive electrode of the battery in the figure 1, the current passes through the ACS785LCB chip and then is output to a power supply and conditioning circuit (used according to the positive electrode of the battery) required by the controller through the IP-, and the output negative electrode of the battery in the figure 1 is not specially processed and is normally applied; pin 7 is a voltage standard signal output and is connected with an A/D conversion unit of TMS320F28335 through a resistor R6 of 0 omega.
The voltage acquisition unit adopts an AD822 signal preprocessing chip to complete the processing of the voltage signal of the ducted fan. Through matching the resistors with different resistance values of the AD822, the voltage signal of the battery of the controller can be converted into an analog signal of 0V-3V, and the signal can be directly input into the AD conversion unit. FIG. 4 is a circuit diagram of the voltage acquisition unit, and the AD822 can convert a voltage of + -15V into a standard signal of 0-5V and input the standard signal into the main control unit. The specific connection is as follows: the 1 pin of the AD822 is an output pin, and is not only pulled down by R8(1K) and R9(2K), but also further limited by a resistor R3 with the resistance value of 1K; 2 is-INA pin, grounded through a resistor R9 (2K); the 3 pin is an input pin, is connected with a 1K pull-down resistor R11, and carries out current limiting through a resistor R10 (3K); the 4 pin and the 8 pin are connected with a +15V power supply.
The controller is communicated with the upper computer in an RS-485 communication mode. The communication unit consists of a MAX485 serial port chip and an ISO7221 isolating chip. The MAX3485 adopts 5V power supply, and can realize the transmission rate of 2.5Mbps at most. The ISO7221 chip can effectively isolate signals, complete conversion of level signals, improve the anti-interference capability and effectively ensure the stability of RS-485 communication. Fig. 5 is a circuit diagram of a communication unit, wherein the communication unit 4 employs an isolation chip ISO7221, a series resistor R17(0 Ω) and a +3.3V power supply are connected between pins 1 and 8 of the ISO7221, pins 4 and 5 are grounded, pins 2 and 3 are connected to SCIA _ TX and SCI _ RX pins of the TMS320F28335, and pins 6 and 7 are connected to an input of the MAX3485 chip. The RS-485 control chip MAX3485 adopted by the communication unit 2, pins 12, 15 and 16 of the MAX3485 are connected with a +3.3V power supply, pins 1 and 14 are grounded, pins 2 and 4 are connected with a capacitor C8(0.1uF), pins 5 and 6 are connected with a filter capacitor C10(0.1uF), pin 3 is grounded through a filter capacitor C7(0.1uF), pin 7 is grounded through a filter capacitor C11(0.1uF), pins 9 and 11 are connected with pins 6 and 7 of ISO7221, and pins 8 and 13 are Rx and Tx pins of RS-485.
A PWM driving unit: because the PWM signal output by the DSP can not directly drive the electric regulator of the ducted fan, the PWM driving unit completes the conversion of the level signal through the MC14504BD chip. The MC14504BD converts TTL signals to cmos logic levels using a hexadecimal non-inverting level shifter. Fig. 6 is a circuit diagram of the PWM driving unit, where 6 is a level conversion chip MC14504BD adopted by the PWM driving unit, pins 1 and 16 of MC14504BD are connected to a +5V power supply, pin 9 is connected to a +15V power supply, pin 8 is connected to ground, pin 2 is connected to a PWM output pin of TMS320F28335, and is pulled down through R18(10K), pin 17 is a PWM output pin, and is limited by an external resistor R19(100 Ω).
A power management unit: the controller is powered by a battery and is converted into four voltages of +/-15V, +5V, +3.3V and +1.9V by the power management unit. The power conversion chip WRA2415S completes the conversion of the battery voltage to +/-15V voltage; the power conversion chip K7805 completes the conversion from the battery voltage to the 5V voltage; the TPS767D301 chip of the power conversion chip completes the conversion from +5V voltage to 3.3V/1.9V voltage. FIG. 7 is a circuit diagram of a power management unit, where K7805 is shown in FIG. 7, and the +24V to +5V power conversion is realized, and the 1 pin of K7805 is connected to the +24V power, and is filtered by C14(100uF/25V), and the output is the +5V power, and is filtered by C15(10 uF/10V). WRA2415S for 8, realizes the conversion of +24V to +15V power supply, WRA2415S with pins 1 and 7 grounded, pin 2 connected to +24V power supply, pin 6 with pin +15V output, pin 8 with-15V output, and +/-15V filtered with capacitors C17(100uF/25V) and C18(100 uF/25V). 9 is TPS767D301, pins 1 and 2 of TPS767D301 are connected with +5V power supply through R20(4.7K), pins 3 and 4 are grounded, and pins 14 and 15 are connected with 1.8V output.
The working process of the controller is as follows:
in the operation process, current and voltage signals of the ducted fan are input into the AD conversion unit through the current acquisition unit and the voltage acquisition unit respectively, the main control unit processes the signals of the AD conversion unit, the signals are converted into real-time power parameters, and PWM signals with corresponding duty ratios are output through a power closed-loop regulation algorithm. The communication unit is responsible for instruction and data transmission between controller and the host computer, passes the ducted fan operation parameter of gathering to the host computer and shows, and the setting instruction of start, stop and output torque value that the receiving host computer was issued, and power management unit is responsible for each unit power supply management of controller.
The control method of the controller mainly comprises a main control program and an interrupt program, wherein the main control program mainly realizes the functions of system initialization and data interaction; the interrupt program finishes data acquisition, calculation and PID algorithm control, and the specific control flow is as follows:
fig. 8 is a flow chart of the main program, which includes the following specific steps:
s1: and starting.
S2: and initializing a system clock to finish the initialization of peripheral functions such as a DSP timer, PWM, ADC, SCI and the like.
S3: and judging whether the controller receives a control command, wherein the control command mainly comprises a torque setting command of the fan and a starting or stopping command of the fan, if so, entering S4, and if not, executing S5.
S4: and executing operations such as torque setting, fan starting and the like according to the control instruction.
S5: and judging whether the controller receives a query instruction, if so, executing S6, and otherwise, executing S7.
S6: and returning the current ducted fan voltage, current, power and other parameter information according to the query instruction.
S7: whether the controller receives an end instruction, if so, executes S8, otherwise, executes S3.
S8: and finishing the operation of the controller.
Fig. 9 is a flow chart of timer interrupt, which includes the following specific steps:
s9: the interrupt starts and enters the interrupt entry function.
S10: and reading the AD sampling value and calculating the current voltage parameter.
S11: and reading the AD sampling value, and calculating the current parameter.
S12: and obtaining the current output power according to the voltage and the current value.
S13: and calculating to obtain a PID output value according to an incremental PID algorithm.
S14: and calculating and outputting the current PWM signal according to the PID output value.
S15: and (5) clearing the interrupt flag bit after the interrupt is finished.
The incremental PID algorithm belongs to the conventional technology in the art, and is not described herein again.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The constant-torque output controller of the ducted fan is characterized in that: comprises a main control unit, a current acquisition unit, a voltage acquisition unit, an AD conversion unit, a communication unit, a PWM driving unit and a power management unit,
the main control unit comprises a main control chip, and a reset circuit and a clock circuit which are integrated outside the main control chip, wherein the reset circuit completes power-on reset and fault reset functions through a touch switch, and the clock circuit adopts an external crystal oscillator to provide clock signals for the main control chip; the AD conversion unit is an ADC module arranged in the main control chip;
the PWM driving unit comprises a level conversion chip for converting TTL signals into COMS logic levels and a peripheral circuit thereof, wherein the input end of the level conversion chip is connected with the main control unit, and the output end of the level conversion chip is connected with the electric regulator of the ducted fan;
the power supply management unit comprises a plurality of voltage conversion chips, the input end of each voltage conversion chip is connected with an external battery, and the output end of each voltage conversion chip is connected with the main control unit, the PWM driving unit, the current acquisition unit and the voltage acquisition unit and is used for converting the input battery voltage into a plurality of voltages required by the controller;
the current acquisition unit is a linear Hall element current sensor, acquires a current signal on a connecting line between the power management unit and the PWM driving unit, and outputs the current signal to the main control chip through the AD conversion unit;
the voltage acquisition unit comprises a signal amplifier chip and a peripheral circuit thereof, and acquires a voltage signal of the power management unit through the signal amplifier chip and outputs the voltage signal to the main control chip through the AD conversion unit;
the main control unit is in signal connection with an upper computer through the communication unit.
2. The ducted fan constant torque output controller according to claim 1, wherein: the external part of the controller is reserved with a +24V battery power supply interface, a PWM driving interface and an RS-232 communication interface which are respectively connected with a power supply management unit, a PWM driving unit and a communication unit.
3. The ducted fan constant torque output controller according to claim 1, wherein: the main control chip of the main control unit adopts a TMS320F28335 chip, a VSS pin of the TMS320F28335 is connected with GND, a VDD pin is connected with +1.8V, a VDDIO pin is connected with +3.3V, a 30MHz crystal oscillator is selected, pins 1 and 2 of the crystal oscillator are respectively connected with pins 102 and 104 of the main control chip, capacitors C1 and C2 are used for filtering, a RST pin and an MR pin of the main control chip are connected with +3.3V and pulled up, and a pull-up resistor R1 is 4.7K.
4. The ducted fan constant torque output controller according to claim 1, wherein: the PWM driving unit completes the conversion of level signals through an MC14504BD chip, pins 1 and 16 of an MC14504BD are connected with a +5V power supply, a pin 9 is connected with a +15V power supply, a pin 8 is grounded, a pin 2 is connected with a PWM output pin of a main control chip and is pulled down through R18, a pin 17 is the PWM output pin, and the current is limited through an external resistor R19.
5. The ducted fan constant torque output controller according to claim 1, wherein: the power management unit is powered by a battery and is converted into four voltages of +/-15V, +5V, +3.3V and +1.9V by the power management unit, and comprises a power conversion chip WRA2415S, a power conversion chip K7805 and a power conversion chip TPS767D301,
the 1 pin of the K7805 is connected with a +24V power supply, filtered by C14, output is a +5V power supply, and filtered by C15; pins 1 and 7 of the WRA2415S are grounded, a pin 2 is connected with a +24V power supply, a pin 6 outputs +15V, a pin 8 outputs-15V, and +/-15V is filtered by adopting capacitors C17 and C18; pins 1 and 2 of TPS767D301 are connected with +5V power supply through R20, pins 3 and 4 are grounded, and pins 14 and 15 are connected with 1.8V output.
6. The ducted fan constant torque output controller according to claim 1, wherein: the current acquisition unit adopts an ACS758LCB linear Hall element current sensor, a pin 1 of the ACS785LCB is connected with a +5V power supply, a capacitor C3 is used for filtering, and a pin 2 is grounded; the 4-pin IP + and the 5-pin IP-are respectively connected with the input and the output of the total current of the controller, and the 7-pin is used for outputting a voltage standard signal and is connected with the A/D conversion unit of the main control chip through a resistor R6.
7. The ducted fan constant torque output controller according to claim 1, wherein: the voltage acquisition unit adopts an AD822 signal preprocessing chip, a pin 1 of the AD822 is an output pin, the voltage acquisition unit is pulled down through R8 and R9, and the current is further limited through a resistor R3; pin 2 is grounded through a resistor R9; the 3 pin is an input pin, is connected with a pull-down resistor R11 and carries out current limiting through a resistor R10; the 4 pin and the 8 pin are connected with a +15V power supply.
8. The ducted fan constant torque output controller according to claim 1, wherein: the communication unit consists of a MAX485 serial port chip and an ISO7221 isolation chip, a resistor R17 and a +3.3V power supply are connected between pins 1 and 8 of ISO7221 in series, pins 4 and 5 are grounded, pins 2 and 3 are respectively connected with SCIA _ TX and SCI _ RX pins of the main control chip, and pins 6 and 7 are connected with the input of the MAX3485 chip; the pins 12, 15 and 16 of the MAX3485 are connected with a +3.3V power supply, the pins 1 and 14 are grounded, the indirect capacitor C8 between the pins 2 and 4, the indirect filter capacitor C10 between the pins 5 and 6, the pin 3 is grounded through the filter capacitor C7, the pin 7 is grounded through the filter capacitor C11, the pins 9 and 11 are connected with the pins 6 and 7 of the ISO7221, and the pins 8 and 13 are Rx and Tx pins of RS-485.
9. A satellite simulator with a simulation thruster is characterized in that: the simulated thruster comprises a plurality of ducted fans having the controller of any one of claims 1 to 8, the ducted fans being installed in front-rear-left-right directions within a horizontal range of the satellite simulator.
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| CN111963335A (en) * | 2020-09-09 | 2020-11-20 | 天津航天机电设备研究所 | Ducted fan constant-torque output controller, control method and satellite simulator |
| CN111963335B (en) * | 2020-09-09 | 2023-08-22 | 天津航天机电设备研究所 | Constant torque output controller of ducted fan, control method and satellite simulator |
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