JPS6211911A - Position controller for motor mounted on satellite - Google Patents

Abstract

PURPOSE:To attain the shift of a position controller at a fixed angle speed to an inertia space regardless of the number of revolutions of a satellite, by calculating the optimum dividing ratio of a programmable counter set in a position control part based on the spin cycle frequency. CONSTITUTION:A position control part 5 includes a microprocessor 12, an N/ M-ary counter 11 serving as a programmable counter, an N-ary counter 13, etc. Then the part 5 transmits the satellite rotary pulse 20 based on the spin synchronous pulse 3, the spin synchronous information 4, the sun pulse 1, the encoder pulse 9 and the encoder reference pulse 10 respectively. In other words, a processor 12 of the part 5 calculates the optimum dividing ratio according to the information 4 in order to secure revolutions at a fixed angle speed to the inertia speed. Then the processor 12 transmits data to both counters 11 and 13. When the shift angle is coincident with the set angle, the dividing ratio is set at 1:1. Thus a position controller can move at a fixed angle speed to the inertia space regardless of the number of revolutions of a satellite. In addition, the problems produced in the acceleration/deceleration modes of a motor 7 can be solved in terms of software.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a position control device for a motor mounted on a satellite.

[Background of the invention]

As a motor position control device for use on a satellite, one has been proposed that obtains a sun pulse from the rotation of the satellite and divides the frequency of this sun pulse to determine the angular velocity of the motor (1982 Scientific Satellite Symposium, Tomo Nao Hayashi et al. I PLANET -
A's Despan Antenna Control Device").

In this conventional motor position control device, since the frequency division ratio is fixed, the angular velocity of movement relative to the inertial space depends on the rotational speed of the satellite, making it impossible to obtain a constant angular velocity of movement regardless of the rotational speed of the satellite. I can't.

[Purpose of the invention]

An object of the present invention is to provide a motor position control device that can move at a predetermined angular velocity with respect to inertial space, regardless of the rotational speed of the satellite.

[Summary of the invention]

In order to achieve the above object, the present invention includes a microprocessor and a programmable counter, and the microprocessor calculates the frequency division ratio of the programmable counter based on spin period information.

Therefore, the frequency division ratio of the counter is not fixed but is set according to the spin period of the satellite, so that the problems of the prior art described above can be solved.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is an overall configuration diagram of a motor position control device. Based on a sun pulse 1, a spin synchronization pulse generation section 2 sends a spin synchronization pulse 3 and spin period information 4 to a position control section 5. As will be described in detail later, the position control unit 5 generates a satellite rotation pulse 20 based on the spin synchronization pulse 3, the spin period information 4, the sun pulse 1, the encoder pulse 9 from the encoder 8, and the encoder reference pulse 10. is sent to the speed control section 6. Then, the speed control unit 6 compares the phases of the satellite rotation pulse 20 and the encoder pulse 9 from the encoder 8 on a one-to-one basis, and controls the motor 7 based on the comparison result.

As shown in FIG.
.

It includes a base counter 11, a microprocessor 12, an N base counter 13, counters 14, 17, 19, a comparator 18, and a lead/lag detector 16.

The counter 19 counts the encoder pulses 9 using the sun pulse 1 as a clear pulse, and the comparator 18 compares the set angle command signal 15 with the count value of the counter 19. As this setting angle command signal 15, a Lubit signal is used, which is obtained by using the sun pulse output point as a reference point and digitizing the angle from the reference point to the target point based on the resolution of the encoder 80.

The comparator 18 outputs a set angle pulse at a time interval corresponding to the set angle from the sun pulse. The lead/lag detector 16 determines the moving direction by detecting the lead/lag of the set angle pulse encoder reference pulse 10, and sends a correction angle signal 21 to the counter 17, which indicates that the leading pulse to the lagging pulse is "extra". Output.

The counter 17 counts the encoder pulses 9 using the correction angle signal 21 as a clear pulse, and inputs the counted value (set movement angle data) to the microprocessor 12 . In this manner, in this embodiment, the correction angle is detected with the resolution of the encoder 8.

Based on the spin period information 4, the microprocessor 12
Calculate the optimal frequency division ratio for rotating the inertial space at a predetermined angular velocity, and calculate the programmable color N/
Data is transmitted to the M-ary counter 11 and the N-ary counter 13. A flowchart of the control program executed by this microprocessor 12 is shown in FIG.

After outputting the optimum frequency division ratio to the programmable counter, the microprocessor 12 waits until the movement angle reaches the set movement angle, and when the movement angle reaches the set movement angle, changes the frequency division ratio to 1.
: Set to 1. For example, in the case of N-M+1, the motor 7 advances by one encoder pulse with respect to the inertial space for every 200M satellite rotation pulses from the N/M counter 11. Therefore, the satellite rotation pulse 20 is divided by N by the N-ary counter 13, and the pulse is counted by the counter 14, and the counted value (movement angle data) 23 is compared with the set movement angle data 22.4.

and when they are the same, it is set as M−N. As a result, it moves by the set movement angle with respect to the inertial space.

Since the above-mentioned principle does not hold when the motor 7 accelerates or decelerates, this problem is solved by software. For example, when performing control to delay the motor with respect to the satellite, the same as above is performed as N-M-1.

Therefore, according to this embodiment, even if the target rotation speed is not reached as a result of the satellite spinning down, the satellite can despan and
Moreover, it becomes possible to move at a predetermined angular velocity with respect to inertial space.

〔Effect of the invention〕

According to the present invention, it is possible to move at a fixed angular velocity with respect to inertial space regardless of the rotation speed of the satellite, and moreover, it is possible to correspond to the rotation speed of the satellite and the characteristics of the motor by simply changing the software.
Excellent efficiency and economy.

[Brief explanation of drawings]

FIG. 1 is an overall configuration diagram of a motor position control device according to an embodiment of the present invention, FIG. 2 is a detailed block configuration diagram of the position control section shown in FIG. 1, and FIG. 3 is a flowchart of processing executed by a microprocessor. 2... Spin synchronization pulse generation section, 5... Position control section, 6... Speed control section, 7.
...Motor, 8...Encoder, 11...
・N/M counter, 12... microprocessor,
13... N-ary counter.

Claims (1)

[Claims] A satellite-mounted motor control device comprising a spin synchronization pulse generator, a position control unit, a speed control unit, and an encoder,
A programmable counter that determines the angular velocity of the motor, and a microprocessor that compares the movement angle with a set angle and calculates the division ratio of the programmable counter based on the satellite spin period obtained from the spin synchronization pulse generator are provided. A satellite-mounted motor position control device characterized in that the motor is moved at a constant angular velocity in inertial space regardless of the rotation of the satellite.