WO2015188294A1 - 高集成高精度控制力矩陀螺群伺服控制装置 - Google Patents

高集成高精度控制力矩陀螺群伺服控制装置 Download PDF

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Publication number
WO2015188294A1
WO2015188294A1 PCT/CN2014/001074 CN2014001074W WO2015188294A1 WO 2015188294 A1 WO2015188294 A1 WO 2015188294A1 CN 2014001074 W CN2014001074 W CN 2014001074W WO 2015188294 A1 WO2015188294 A1 WO 2015188294A1
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frame
motor
circuit
control
flywheel
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PCT/CN2014/001074
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English (en)
French (fr)
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金光
陈茂胜
徐伟
戴路
徐振
陶淑苹
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中国科学院长春光学精密机械与物理研究所
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Publication of WO2015188294A1 publication Critical patent/WO2015188294A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect

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  • the invention relates to a high-integrated high-precision control torque gyro group servo control device, which is used for servo control of two sets of control moment gyro, and is suitable for a high-integration and high-precision small and medium-sized agile satellite attitude control actuator.
  • the control torque gyro uses its "torque amplification" feature to output dozens of times the torque of the traditional flywheel under the same power consumption, volume and mass, greatly shortening the satellite maneuver time. It realizes multiple sweeping and splicing imaging of wide targets in a single track.
  • the control moment gyro has been successfully applied to the WorldView-1/2 and Pleiades satellites, greatly enhancing the satellite maneuverability and improving the agility of the satellite.
  • the servo control of the control moment gyro includes the servo control of the frame motor and the flywheel motor.
  • the frame motor servo control is to make the frame mechanism have high-precision dynamic speed tracking characteristics
  • the flywheel motor servo control is to make the flywheel rotor have high-precision steady-state speed characteristics. Keep the flywheel angular momentum as constant as possible.
  • the output torque of the control moment gyro is equal to the cross product of the frame angular velocity vector and the flywheel angular momentum vector, that is, the servo control of the frame motor and the flywheel motor directly determines the output torque characteristic of the control torque gyro.
  • the servo control of the control moment gyro is usually divided into frame motor and flywheel motor servo control, that is, the frame motor and the flywheel motor are servo-controlled based on their respective circuit systems, which will increase the power consumption, volume, quality and quality of the entire control torque gyro servo system. Cost, system integration is low.
  • the present invention provides a control torque gyro group servo control device with high integration, high precision, small volume, light weight and low power consumption, and realizes servo control of two sets of control moment gyros, and It can be extended to servo control of up to six sets of control torque gyro, especially suitable for small and medium-sized agile satellite attitude control actuators.
  • the technical solution of the invention is: a high-integrated high-precision control torque gyro group servo control device, wherein the DC power source is connected with the power board, and the power board comprises a power conversion module I, a power conversion module II and a power conversion module III, respectively
  • the control board and the driver board provide power, analog power and digital power
  • the frame I encoder and the frame II encoder receive information transmitted by the drive board to generate the frame I and the frame II
  • the angular position information is sent to the control panel;
  • the control board includes a CAN bus interface, a main controller DSP, a slave controller FPGA, a frame I position acquisition circuit, and a frame II position acquisition circuit;
  • the drive board includes an isolation circuit, a frame motor I drive circuit, a frame motor II drive circuit, a flywheel motor I drive circuit, a flywheel motor II drive circuit, a frame motor I, a frame motor II, a flywheel motor I, a flywheel motor II, a Hall signal acquisition Circuit I, Hall signal acquisition circuit II, U/V phase current acquisition circuit I, U/V phase current acquisition circuit II, bus current acquisition circuit I and bus current acquisition circuit II;
  • the main controller DSP is connected with the CAN bus interface, and receives the control torque gyro group servo command in real time or transmits the frame position of the current control moment gyro group, the frame angular velocity, the frame motor phase current, the flywheel motor speed and the real-time value of the flywheel motor bus current;
  • the frame angular position signals of the frame motor I and the frame motor II are collected in real time, and the flywheel is collected in real time through the Hall signal acquisition circuit I and the Hall signal acquisition circuit II, respectively.
  • the angular velocity signals of motor I and flywheel motor II and send the signal to the main controller DSP as their respective speed feedback values;
  • the main controller DSP passes the U/V phase current collecting circuit I, U/V phase current collecting circuit II, busbar
  • the current collecting circuit I and the bus current collecting circuit II respectively collect the current values of the frame motor I, the frame motor II, the flywheel motor I, and the flywheel motor II as respective current feedback values;
  • the main controller DSP according to the respective speed and current feedback values Combined with the corresponding servo control algorithm, the four sets of motors are subjected to double-loop closed-loop control of speed and current to generate PWM commands.
  • the controller FPGA generates PWM according to the instructions, realizing high-precision servo control for four sets of motors, that is, achieving two High-precision servo control of the set of control moment gyro;
  • the isolation circuit is used for isolating the digital signal ground in the control board and the power ground in the driving board to avoid mutual crosstalk between the digital ground and the power ground;
  • the frame motor I drive circuit is identical to the frame motor II drive circuit, respectively for driving the frame motor I and the frame motor II at low speed;
  • the flywheel motor I drive circuit is identical to the flywheel motor II drive circuit, and is used to drive the flywheel motor I and the flywheel motor II running at high speed.
  • the principle of the invention is: obtaining the phase current and the angular velocity value of the frame motor in real time through the U/V phase current collecting circuit and the frame encoder, and obtaining the bus current and the angular velocity value of the flywheel motor in real time through the bus current collecting circuit and the Hall signal collecting circuit. And send these feedback values to the main controller DSP, run
  • the servo control algorithm of two sets of frame mechanism and two sets of flywheels generates four PWM commands.
  • the controller FPGA generates the PWM waveforms required by the four motors in parallel according to the PWM command, and generates two sets of frames through the isolation circuit and the drive circuit.
  • the control current required by the motor and the two sets of flywheel motors realizes high-precision servo control of the two sets of control torque gyros.
  • the invention fully utilizes the main controller DSP to have a high-speed floating point capability, and has multiple parallel running capabilities from the controller FPGA, and integrates two sets of frame mechanisms and two sets of flywheel servo control algorithms into the main controller DSP.
  • the PWM waveform production is integrated into the slave controller FPGA; the two sets of frame mechanisms and the two sets of flywheels share the power board, and the respective drive circuits are used separately.
  • the invention can be extended to a control moment gyro group servo control device composed of six sets of control moment gyros, which satisfies the requirements of small and medium satellites for controlling the control moment gyro group in different configurations.
  • FIG. 1 is a structural block diagram of a highly integrated high precision control torque gyro group servo control device of the present invention.
  • FIG. 2 is a block diagram of a servo control of a highly integrated high precision control torque gyro group servo control device of the present invention.
  • the highly integrated high precision control torque gyro group servo control device is composed of a control board 1, a driving board 2, a power board 3, a DC power source 4, a frame I encoder 5 and a frame 2 encoder 6. .
  • the DC power source 4 is connected to the power board 3, and the power board 3 includes a power conversion module I27, a power conversion module II28, and a power conversion module III29, respectively supplying power, analog power, and digital power to the control board 1 and the driving board 2;
  • the encoder 5 and the frame II encoder 6 receive the information transmitted by the drive board 2, generate frame I and frame II angular position information, and transmit it to the control board 1.
  • the power supply board 3 supplies power supply +28V (PGND), analog power supply ⁇ 12V (AGND), and digital power supply +5V (DGND) to the control board 1 and the drive board 2.
  • the control board 1 includes a CAN bus interface 7, a main controller DSP8, a slave controller FPGA 9, a frame I position acquisition circuit 11, and a frame II position acquisition circuit 10.
  • the driving board 2 includes an isolation circuit 12, a frame motor I driving circuit 13, a frame motor II driving circuit 16, a flywheel motor I driving circuit 19, a flywheel motor II driving circuit 23, a frame motor I14, a frame motor II17, a flywheel motor I20, and a flywheel motor. II24, Hall signal acquisition circuit I22, Hall signal acquisition circuit II26, U/V phase current acquisition circuit I15, U/V phase current acquisition circuit II18, bus current collection Circuit I21 and bus current collecting circuit II25.
  • the main controller DSP8 is connected with the CAN bus interface 7, and receives the real-time value of the control moment gyro group servo command or the frame position of the current control moment gyro group, the frame angular velocity, the frame motor phase current, the flywheel motor speed and the flywheel motor bus current.
  • the frame angular position signals of the frame motor I14 and the frame motor II17 are collected in real time, respectively, through the Hall signal acquisition circuit I22 and the Hall signal acquisition circuit II26, respectively.
  • the angular velocity signals of the flywheel motor I20 and the flywheel motor II24 are collected, and the signals are sent to the main controller DSP8 as their respective speed feedback values; the main controller DSP8 passes the U/V phase current collecting circuit I15, U/V phase current collecting circuit II18
  • the bus current collecting circuit I21 and the bus current collecting circuit II25 respectively collect the current values of the frame motor I14, the frame motor II17, the flywheel motor I20, and the flywheel motor II24 as respective current feedback values; the main controller DSP8 according to the respective speed and current
  • the feedback value combined with the corresponding servo control algorithm, performs double-loop closed-loop control of speed and current on four sets of motors, generates PWM commands, generates PWM from the controller FPGA according to the instructions, realizes high-precision servo control for four sets of motors, that is, realizes High-precision servo control of two sets of control torque gyros.
  • the isolation circuit 12 is used to isolate the digital signal ground in the control board 1 from the power ground in the drive board 2 to avoid crosstalk between the digital ground and the power ground.
  • the frame motor I drive circuit 13 is identical to the frame motor II drive circuit 16 for driving the frame motor I14 and the frame motor II17 operating at a low speed, respectively.
  • the frame motor I drive circuit 13 is composed of a three-phase H-bridge and a six-way NMOS drive circuit, wherein the single-phase bridge is formed by connecting the upper arm NMOS and the lower arm NMOS in series.
  • the flywheel motor I drive circuit 19 is identical to the flywheel motor II drive circuit 23, and is used to drive the flywheel motor I20 and the flywheel motor II24 running at high speed, respectively.
  • the flywheel motor I drive circuit 19 is composed of a three-phase H-bridge, a six-way NMOS drive circuit and a bleed passage, wherein the single-phase bridge is formed by connecting the upper bridge arm NMOS and the lower bridge arm NMOS in series, and the bleed passage is a flywheel motor I20 at a speed reduction system. An energy release channel is provided during the movement.
  • Real-time servo control two sets of control torque gyro composed of control torque gyro group single set control torque gyro servo device separately includes frame motor I drive circuit 13, flywheel motor I drive circuit 19, frame motor I14, flywheel motor I20, U /V phase current collecting circuit I15, bus current collecting circuit I21, Hall signal acquisition circuit I22, frame I encoder 5, frame I position acquisition circuit 11, common power supply board 3, main controller DSP8, slave controller FPGA9, CAN bus interface 7 and DC power supply 4; according to the main controller DSP8 and From the resources of the controller FPGA9, the device can be extended up to a control torque gyro group composed of six sets of control moment gyros.
  • the main controller DSP8 uses a TMS320F28XXX series chip as the processor, which has the ability to run floating point numbers at high speed. From the controller FPGA9, a Virtex II or above series chip is used as the processor, which has multi-channel parallel operation capability and realizes the high control torque gyro group. Precision servo control.
  • the invention can simultaneously perform high-precision servo control on two sets of control torque gyros, and the main controller DSP8 receives the control torque gyro group servo command through the CAN bus interface 7, including the frame motor I14, the flywheel motor I20, the frame motor II17 and the flywheel motor.
  • the II24 servo command triggers the servo program that controls the torque gyro group.
  • U-V phase current acquisition circuit I15 is used to obtain the U-phase and V-phase current of frame motor I14 in real time, and the d/q-axis current values i q1 and i d1 are obtained after coordinate transformation.
  • the frame I position acquisition circuit 11 is used to obtain the frame I position ⁇ 1 of the frame motor I14 in real time, and the angular velocity G ⁇ m1 is further calculated, and the main controller DSP8 according to the frame motor I14 desired rotation speed.
  • the d/q axis desired current value is obtained by the speed loop control Via the d / q-axis current control is applied in the frame to give the motor I14d / q-axis voltage value u q1, u d1, through coordinate transformation, the PWM command SVPWM algorithm, producing a PWM waveform from the PWM controller FPGA9 instruction, the isolation circuit 12, I frame motor driving circuit 13 generates a desired control current;
  • the bus current detection circuit I21 I20 acquired in real time flywheel motor bus current i 1 a Hall signal acquisition circuit acquiring real-time three-phase Hall signal I22 Hu, Hv, Hw, further calculate the angular velocity F ⁇ m1 , the main controller DSP8 according to the desired speed of the flywheel motor I20
  • the feedback speed value F ⁇ m1 the desired current value is obtained by the speed loop controller
  • the voltage value applied to the flywheel motor I20 is obtained by the current loop controller.
  • the PWM command is obtained, and the PWM waveform is generated from the controller FPGA9 according to the PWM command, and the required control current is generated by the isolation circuit 12 and the flywheel motor I drive circuit 19; the main controller DSP8 passes the CAN bus interface 7, Send the current frame position, frame angular velocity, frame motor phase current, flywheel motor speed and flywheel motor bus current real-time value, and monitor the servo control state of the control torque gyro in real time.

Abstract

高集成高精度控制力矩陀螺群伺服控制装置，应用于卫星姿态控制执行机构，该装置从控制器FPGA通过两框架位置采集电路分别实时采集两框架电机的框架角位置信号，通过两霍尔信号采集电路分别实时采集两飞轮电机的角速度信号，并通过地址/数据/控制总线送至主控制器DSP作为各自的速度反馈值；主控制器DSP通过两U/V相电流采集电路和两母线电流采集电路分别采集两框架电机、两飞轮电机的电流值，作为各自的电流反馈值；主控制器DSP根据各自的速度、电流反馈值，结合相应的伺服控制算法，对四台套电机进行速度、电流的双环闭环控制，产生PWM指令，从控制器FPGA根据指令产生PWM，实现对四台套电机高精度伺服控制。

Description

高集成高精度控制力矩陀螺群伺服控制装置 技术领域
本发明涉及一种高集成高精度控制力矩陀螺群伺服控制装置，用于两台套控制力矩陀螺的伺服控制，适用于高集成度、高精度的中小型敏捷卫星姿态控制执行机构。
背景技术
控制力矩陀螺作为中小型敏捷卫星姿态控制执行机构，利用其“力矩放大”特点，可在同等功耗、体积和质量下，输出数十倍于传统飞轮的力矩，极大地缩短了卫星机动时间，实现单轨内对宽幅目标多次推扫、拼接成像。控制力矩陀螺已成功地应用于WorldView-1/2和Pleiades卫星中，极大地增强了卫星机动能力，提高了卫星的敏捷性。
控制力矩陀螺的伺服控制包括框架电机和飞轮电机两部分的伺服控制，其中框架电机伺服控制为使框架机构具有高精度动态速度跟踪特性，飞轮电机伺服控制为使飞轮转子具有高精度稳态转速特性，尽可能保持飞轮角动量值恒定。控制力矩陀螺的输出力矩等于框架角速度矢量与飞轮角动量矢量的叉积，即框架电机和飞轮电机的伺服控制直接决定控制力矩陀螺输出力矩特性。
控制力矩陀螺的伺服控制常单独分为框架电机和飞轮电机伺服控制，即框架电机、飞轮电机基于各自的电路系统进行伺服控制，这样将增加整个控制力矩陀螺伺服系统的功耗、体积、质量和费用，系统的集成度较低。
发明内容
本发明针对现有技术存在的问题，提供一种高集成度、高精度、体积小、质量轻、功耗低的控制力矩陀螺群伺服控制装置，实现两台套控制力矩陀螺的伺服控制，且最多扩展至六台套控制力矩陀螺的伺服控制，特别适用于中小型敏捷卫星姿态控制执行机构。
本发明的技术解决方案：高集成高精度控制力矩陀螺群伺服控制装置，其特征是，直流电源与电源板连接，电源板包括电源转换模块I、电源转换模块II和电源转换模块III，分别向控制板和驱动板提供功率电源、模拟电源和数字电源；框架I编码器和框架II编码器接收驱动板传输的信息，生成框架I和框架II 角位置信息，再发送给控制板；
控制板包括CAN总线接口、主控制器DSP、从控制器FPGA、框架I位置采集电路和框架II位置采集电路；
驱动板包括隔离电路、框架电机I驱动电路、框架电机II驱动电路、飞轮电机I驱动电路、飞轮电机II驱动电路、框架电机I、框架电机II、飞轮电机I、飞轮电机II、霍尔信号采集电路I、霍尔信号采集电路II、U/V相电流采集电路I、U/V相电流采集电路II、母线电流采集电路I和母线电流采集电路II；
主控制器DSP与CAN总线接口连接，实时接收控制力矩陀螺群伺服指令或发送当前控制力矩陀螺群的框架位置、框架角速度、框架电机相电流、飞轮电机转速和飞轮电机母线电流的实时值；
从控制器FPGA通过框架I位置采集电路和框架II位置采集电路分别实时采集框架电机I和框架电机II的框架角位置信号，通过霍尔信号采集电路I和霍尔信号采集电路II分别实时采集飞轮电机I和飞轮电机II的角速度信号，并将信号送至主控制器DSP作为各自的速度反馈值；主控制器DSP通过U/V相电流采集电路I、U/V相电流采集电路II、母线电流采集电路I和母线电流采集电路II分别采集框架电机I、框架电机II、飞轮电机I、飞轮电机II的电流值，作为各自的电流反馈值；主控制器DSP根据各自的速度、电流反馈值，结合相应的伺服控制算法，对四台套电机进行速度、电流的双环闭环控制，产生PWM指令，从控制器FPGA根据指令产生PWM，实现对四台套电机高精度伺服控制，即实现对两台套控制力矩陀螺的高精度伺服控制；
隔离电路用于隔离控制板中的数字信号地与驱动板中的功率地，避免数字地与功率地之间相互串扰；
框架电机I驱动电路与框架电机II驱动电路完全一致，分别用于驱动低速运行的框架电机I和框架电机II；
飞轮电机I驱动电路与飞轮电机II驱动电路完全一致，分别用于驱动高速运行的飞轮电机I和飞轮电机II。
本发明的原理是：通过U/V相电流采集电路、框架编码器实时获取框架电机的相电流、角速度值，通过母线电流采集电路、霍尔信号采集电路实时获取飞轮电机的母线电流、角速度值，并将这些反馈值送至主控制器DSP中，运行 两台套框架机构、两台套飞轮的伺服控制算法，产生四路PWM指令，从控制器FPGA根据PWM指令并行产生四路电机所需的PWM波形，经隔离电路、驱动电路生成两台套框架电机、两台套飞轮电机所需的控制电流，从而实现对两台套控制力矩陀螺的高精度伺服控制。
本发明的有益效果是：
(1)本发明充分利用主控制器DSP具有高速运行浮点数能力、从控制器FPGA具有多路并行运行能力，将两台套框架机构和两台套飞轮伺服控制算法集成到主控制器DSP中，PWM波形生产集成到从控制器FPGA中；两台套框架机构和两台套飞轮共用电源板，单独使用各自的驱动电路。
(2)本发明可最多扩展至六台套控制力矩陀螺组成的控制力矩陀螺群伺服控制装置，满足中小卫星对不同构型下控制力矩陀螺群的使用要求。
附图说明
图1为本发明高集成高精度控制力矩陀螺群伺服控制装置结构框图。
图2为本发明高集成高精度控制力矩陀螺群伺服控制装置的伺服控制框图。
具体实施方式
如图1、图2所示，高集成高精度控制力矩陀螺群伺服控制装置，由控制板1、驱动板2、电源板3、直流电源4、框架I编码器5及框架2编码器6构成。
直流电源4与电源板3连接，电源板3包括电源转换模块I27、电源转换模块II28和电源转换模块III29，分别向控制板1和驱动板2提供功率电源、模拟电源和数字电源；框架I编码器5和框架II编码器6接收驱动板2传输的信息，生成框架I和框架II角位置信息，再发送给控制板1。在接入直流电源4后，电源板3向控制板1、驱动板2提供功率电源+28V(PGND)、模拟电源±12V(AGND)和数字电源+5V(DGND)。
控制板1包括CAN总线接口7、主控制器DSP8、从控制器FPGA9、框架I位置采集电路11和框架II位置采集电路10。
驱动板2包括隔离电路12、框架电机I驱动电路13、框架电机II驱动电路16、飞轮电机I驱动电路19、飞轮电机II驱动电路23、框架电机I14、框架电机II17、飞轮电机I20、飞轮电机II24、霍尔信号采集电路I22、霍尔信号采集电路II26、U/V相电流采集电路I15、U/V相电流采集电路II18、母线电流采集 电路I21和母线电流采集电路II25。
主控制器DSP8与CAN总线接口7连接，实时接收控制力矩陀螺群伺服指令或发送当前控制力矩陀螺群的框架位置、框架角速度、框架电机相电流、飞轮电机转速和飞轮电机母线电流的实时值。
从控制器FPGA9通过框架I位置采集电路11和框架II位置采集电路10分别实时采集框架电机I14和框架电机II17的框架角位置信号，通过霍尔信号采集电路I22和霍尔信号采集电路II26分别实时采集飞轮电机I20和飞轮电机II24的角速度信号，并将信号送至主控制器DSP8作为各自的速度反馈值；主控制器DSP8通过U/V相电流采集电路I15、U/V相电流采集电路II18、母线电流采集电路I21和母线电流采集电路II25分别采集框架电机I14、框架电机II17、飞轮电机I20、飞轮电机II24的电流值，作为各自的电流反馈值；主控制器DSP8根据各自的速度、电流反馈值，结合相应的伺服控制算法，对四台套电机进行速度、电流的双环闭环控制，产生PWM指令，从控制器FPGA根据指令产生PWM，实现对四台套电机高精度伺服控制，即实现对两台套控制力矩陀螺的高精度伺服控制。
隔离电路12用于隔离控制板1中的数字信号地与驱动板2中的功率地，避免数字地与功率地之间相互串扰。
框架电机I驱动电路13与框架电机II驱动电路16完全一致，分别用于驱动低速运行的框架电机I14和框架电机II17。框架电机I驱动电路13由三相H桥和六路NMOS驱动电路组成，其中单相桥由上桥臂NMOS和下桥臂NMOS串联而成。
飞轮电机I驱动电路19与飞轮电机II驱动电路23完全一致，分别用于驱动高速运行的飞轮电机I20和飞轮电机II24。飞轮电机I驱动电路19由三相H桥、六路NMOS驱动电路和泄能通道组成，其中单相桥由上桥臂NMOS和下桥臂NMOS串联而成，泄能通道为飞轮电机I20在减速制动过程中提供能量释放通道。
实时伺服控制两台套控制力矩陀螺所组成的控制力矩陀螺群，单台套控制力矩陀螺伺服装置单独包括框架电机I驱动电路13、飞轮电机I驱动电路19、框架电机I14、飞轮电机I20、U/V相电流采集电路I15、母线电流采集电路I21、 霍尔信号采集电路I22、框架I编码器5、框架I位置采集电路11，共用电源板3、主控制器DSP8、从控制器FPGA9、CAN总线接口7和直流电源4；根据主控制器DSP8和从控制器FPGA9的资源可将该装置最多扩展至六台套控制力矩陀螺所组成的控制力矩陀螺群。
主控制器DSP8采用一片TMS320F28XXX系列芯片作为处理器，具备高速运行浮点数能力，从控制器FPGA9采用一片Virtex II或以上系列芯片作为处理器，具备多路并行运行能力，实现控制力矩陀螺群的高精度伺服控制。
实施例：
本发明能够同时对两台套控制力矩陀螺进行高精度伺服控制，主控制器DSP8通过CAN总线接口7接收到控制力矩陀螺群伺服指令，包括框架电机I14、飞轮电机I20、框架电机II17和飞轮电机II24伺服指令，并触发控制力矩陀螺群的伺服程序。
以单台套控制力矩陀螺伺服控制为例，利用U/V相电流采集电路I15实时获取框架电机I14的U相、V相电流，经坐标变换后得到d/q轴电流值iq1、id1，利用框架I位置采集电路11实时获取框架电机I14的框架I位置θ1，进一步计算得到角速度Gωm1，主控制器DSP8根据框架电机I14期望转速
Figure PCTCN2014001074-appb-000001
和反馈转速值Gωm1，经速度环控制得到d/q轴期望电流值经d/q轴电流环控制得到施加在框架电机I14d/q轴电压值uq1、ud1，经坐标变换、SVPWM算法后得到PWM指令，从控制器FPGA9根据PWM指令生产PWM波形，经隔离电路12、框架电机I驱动电路13产生所需的控制电流；与此同时，利用母线电流采集电路I21实时获取飞轮电机I20的母线电流i1，利用霍尔信号采集电路I22实时获取三相霍尔信号Hu、Hv、Hw，进一步计算得到角速度Fωm1，主控制器DSP8根据飞轮电机I20期望转速
Figure PCTCN2014001074-appb-000003
和反馈转速值Fωm1，经速度环控制器得到期望电流值
Figure PCTCN2014001074-appb-000004
经电流环控制器得到施加在飞轮电机I20电压值
Figure PCTCN2014001074-appb-000005
经霍尔换相算法后得到PWM指令，从控制器FPGA9根据PWM指令生产PWM波形，经隔离电路12、飞轮电机I驱动电路19产生所需的控制电流；主控制器DSP8通过CAN总线接口7，发送当前的框架位置、框架角速度、框架电机相电流、飞轮电机转速和飞轮电机母线电流的实时值，实时监控控制力矩陀螺的伺服控制状态。

Claims (5)

  1. 高集成高精度控制力矩陀螺群伺服控制装置，其特征是，
    直流电源(4)与电源板(3)连接，电源板(3)包括电源转换模块I(27)、电源转换模块II(28)和电源转换模块III(29)，分别向控制板(1)和驱动板(2)提供功率电源、模拟电源和数字电源；框架I编码器(5)和框架II编码器(6)接收驱动板(2)传输的信息，生成框架I和框架II角位置信息，再发送给控制板(1)；
    控制板(1)包括CAN总线接口(7)、主控制器DSP(8)、从控制器FPGA(9)、框架I位置采集电路(11)和框架II位置采集电路(10)；
    驱动板(2)包括隔离电路(12)、框架电机I驱动电路(13)、框架电机II驱动电路(16)、飞轮电机I驱动电路(19)、飞轮电机II驱动电路(23)、框架电机I(14)、框架电机II(17)、飞轮电机I(20)、飞轮电机II(24)、霍尔信号采集电路I(22)、霍尔信号采集电路II(26)、U/V相电流采集电路I(15)、U/V相电流采集电路II(18)、母线电流采集电路I(21)和母线电流采集电路II(25)；
    主控制器DSP(8)与CAN总线接口(7)连接，实时接收控制力矩陀螺群伺服指令或发送当前控制力矩陀螺群的框架位置、框架角速度、框架电机相电流、飞轮电机转速和飞轮电机母线电流的实时值；
    从控制器FPGA(9)通过框架I位置采集电路(11)和框架II位置采集电路(10)分别实时采集框架电机I(14)和框架电机II(17)的框架角位置信号，通过霍尔信号采集电路I(22)和霍尔信号采集电路II(26)分别实时采集飞轮电机I(20)和飞轮电机II(24)的角速度信号，并将信号送至主控制器DSP(8)作为各自的速度反馈值；主控制器DSP(8)通过U/V相电流采集电路I(15)、U/V相电流采集电路II(18)、母线电流采集电路I(21)和母线电流采集电路II(25)分别采集框架电机I(14)、框架电机II(17)、飞轮电机I(20)、飞轮电机II(24)的电流值，作为各自的电流反馈值；主控制器DSP(8)根据各自的速度、电流反馈值，结合相应的伺服控制算法，对四台套电机进行速度、电流的双环闭环控制，产生PWM指令，从控制器FPGA根据指令产生PWM，实现对四台套电机高精度伺服控制，即实现对两台套控制力矩陀螺的高精度伺服控制；
    隔离电路(12)用于隔离控制板(1)中的数字信号地与驱动板(2)中的功率地，避免数字地与功率地之间相互串扰；
    框架电机I驱动电路(13)与框架电机II驱动电路(16)完全一致，分别用于驱动低速运行的框架电机I(14)和框架电机II(17)；
    飞轮电机I驱动电路(19)与飞轮电机II驱动电路(23)完全一致，分别用于驱动高速运行的飞轮电机I(20)和飞轮电机II(24)。
  2. 根据权利要求1所述的高集成高精度控制力矩陀螺群伺服控制装置，其特征在于，实时伺服控制两台套控制力矩陀螺所组成的控制力矩陀螺群，单台套控制力矩陀螺伺服装置单独包括框架电机I驱动电路(13)、飞轮电机I驱动电路(19)、框架电机I(14)、飞轮电机I(20)、U/V相电流采集电路I(15)、母线电流采集电路I(21)、霍尔信号采集电路I(22)、框架I编码器(5)、框架I位置采集电路(11)，共用电源板(3)、主控制器DSP(8)、从控制器FPGA(9)、CAN总线接口(7)和直流电源(4)；根据主控制器DSP(8)和从控制器FPGA(9)的资源可将该装置最多扩展至六台套控制力矩陀螺所组成的控制力矩陀螺群。
  3. 根据权利要求1所述的高集成高精度控制力矩陀螺群伺服控制装置，其特征在于，主控制器DSP(8)采用一片TMS320F28XXX系列芯片作为处理器，具备高速运行浮点数能力，从控制器FPGA(9)采用一片Virtex II或以上系列芯片作为处理器，具备多路并行运行能力，实现控制力矩陀螺群的高精度伺服控制。
  4. 根据权利要求1所述的高集成高精度控制力矩陀螺群伺服控制装置，其特征在于，框架电机I驱动电路(13)由三相H桥和六路NMOS驱动电路组成，其中单相桥由上桥臂NMOS和下桥臂NMOS串联而成。
  5. 根据权利要求1所述的高集成高精度控制力矩陀螺群伺服控制装置，其特征在于，飞轮电机I驱动电路(19)由三相H桥、六路NMOS驱动电路和泄能通道组成，其中单相桥由上桥臂NMOS和下桥臂NMOS串联而成，泄能通道为飞轮电机I(20)在减速制动过程中提供能量释放通道。
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CN112650049A (zh) * 2019-10-11 2021-04-13 博世华域转向系统有限公司 电动助力转向电机的信号采集和控制输出的系统及方法
CN112650049B (zh) * 2019-10-11 2023-01-20 博世华域转向系统有限公司 电动助力转向电机的信号采集和控制输出的系统及方法
CN111367304A (zh) * 2020-02-25 2020-07-03 上海航天控制技术研究所 一种基于双重异构力矩陀螺群的执行机构配置及使用方法
CN111367304B (zh) * 2020-02-25 2023-07-14 上海航天控制技术研究所 一种基于双重异构力矩陀螺群的执行机构配置及使用方法
CN113879566A (zh) * 2021-10-19 2022-01-04 北京控制工程研究所 一种控制力矩陀螺框架系统高频扰动的自适应补偿方法
CN113879566B (zh) * 2021-10-19 2023-08-01 北京控制工程研究所 一种控制力矩陀螺框架系统高频扰动的自适应补偿方法

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