CN100588107C - A kind of magnetic suspension reaction fly-wheel motor rate mode control system - Google Patents
A kind of magnetic suspension reaction fly-wheel motor rate mode control system Download PDFInfo
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- CN100588107C CN100588107C CN200710119966A CN200710119966A CN100588107C CN 100588107 C CN100588107 C CN 100588107C CN 200710119966 A CN200710119966 A CN 200710119966A CN 200710119966 A CN200710119966 A CN 200710119966A CN 100588107 C CN100588107 C CN 100588107C
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Abstract
A kind of highly precise speed mode control system for magnetic floating counteractive flywheel electromotor, the control of the high precision velocity of the high-precision attitude control executing mechanism that is used for high stability satellite of new generation---magnetic suspension reaction fly-wheel motor, it mainly by DSP be control core device, three-phase bridge power amplifier, three-phase bridge drive circuit, increment type shaft-position encoder, three-phase permanent brshless DC motor, 28V constant direct current source ,+15V constant direct current source, ± 5V constant direct current source, current detecting link and Hall effect rotor-position sensor etc. form.The present invention controls the high accuracy rate mode control that provides feedback speed signal realized magnetic suspension reaction fly-wheel motor for the low speed of magnetic suspension reaction fly-wheel motor by the two-way quadrature coding pulse signal of increment type shaft-position encoder in the electric permission range of speeds of increment type shaft-position encoder, adopt the signal of Hall rotor-position sensor as speed feedback in the time of outside the electric permission range of speeds of increment type shaft-position encoder.
Description
Technical field
The present invention relates to a kind of highly precise speed mode control system for magnetic floating counteractive flywheel electromotor, belong to the Aerospace Control field, be used to realize the attitude control of high accuracy of new generation, high stability satellite.
Background technology
A new generation's satellite earth observation technology just becomes better and approaching perfection day by day, be a multilayer, solid, multi-angle, comprehensive and round-the-clock, high, medium and low track combines, and large, medium and small satellite is collaborative, among the global earth observation systems of thick, thin, smart resolution complementation is forming.High accuracy, the high stability attitude control technology of a new generation's earth observation satellite are one of key technologies that needs key breakthrough.
Counteraction flyback is used extremely extensive as the execution unit of attitude of satellite control, the average angle momentum is approximately zero during its motion, therefore is also referred to as the zero momentum wheel, and its control mode commonly used is Torque Control and rate controlled.Because the magnitude of the disturbance torque of space environment is very little, for example the disturbance torque of geo-synchronous orbit satellite solar radiation pressure formation is 10
-4Nm, the disturbance torque that this and general ball bearing are crossed the zero moment dead band are with the order of magnitude even littler, and this effect flywheel of will negating must have good null character and forward and backward performance excessively.In addition, the counteraction flyback of mechanical bearing supporting has severe nonlinear near zero rotating speed, can produce harmful effect to the control characteristic of satellite system, because near the rate controlled characteristic the counteraction flyback zero-speed of mechanical bearing supporting is poor.The basic method that addresses this problem is to adopt the magnetic bearing supporting, and the magnitude of disturbance torque is descended significantly.Magnetic suspension reaction fly-wheel is as the high accuracy of satellite platform of new generation, the actuator of high stability attitude control system, have angular momentum output accuracy height, control the linearity good, and have advantages such as very strong anti-interference and very fast-response speed, will become the first-selected actuator of China a new generation high accuracy, high stability, high-resolution earth observation satellite platform.Torque mode is adopted at present external magnetic suspension reaction fly-wheel control mostly, but this pattern with the armature supply of fly-wheel motor as feedback quantity, do not comprise flywheel power department of the Chinese Academy of Sciences branch in the feedback loop, the flywheel control characteristic is not had improvement, do not give full play of the advantage of magnetic suspension bearing supporting.Compare with the counteraction flyback of mechanical bearing supporting between magnetically levitated flywheel rotor and its protection bearing and have certain clearance; the rotor that suspends can produce bigger radial and axial beating; can't install the contour resolution rate feedback device of resolver or inductosyn additional; in addition; the rotation speed change scope of magnetic suspension reaction fly-wheel motor is bigger; the electric permission rotating speed that has exceeded shaft-position encoder can't all use the speed feedback of shaft-position encoder in whole speed adjustable range.Therefore, the signal that the magnetic suspension reaction fly-wheel of current employing rate mode control utilizes rotor-position sensor mostly is as speed feedback, and the rate controlled precision when making low speed is lower.The control precision of speed when improving low speed, having article to propose to adopt increases rotor-position sensor quantity, to improve the resolution of Rate Feedback, this method has certain effect to improving the low speed control precision, but the rate controlled precision is still not high, also has a certain distance to satisfying the desired attitude control accuracy of high accuracy earth observation satellite of new generation.
Summary of the invention
The technical problem that the present invention separates the centre is: overcome the low deficiency of existing magnetic suspension reaction fly-wheel low speed control precision, a kind of highly precise speed mode control system for magnetic floating counteractive flywheel electromotor is provided, has improved the control resolution and the precision of magnetic suspension reaction fly-wheel greatly.
Technical solution of the present invention: a kind of magnetic suspension reaction fly-wheel motor rate mode control system, it is characterized in that comprising: DSP is control core device, three-phase bridge power amplifier, three-phase bridge drive circuit, increment type shaft-position encoder, three-phase permanent brshless DC motor, current detecting link and Hall effect rotor-position sensor, when three-phase permanent brshless DC motor flywheel rotating speed reaches electric permission rotating speed when following, DSP is the control core device from the increment type shaft-position encoder acquisition speed feedback signal of joining with the three-phase permanent brshless DC motor; When three-phase permanent brshless DC motor flywheel rotating speed reaches electric permission rotating speed when above, DSP is the control core device from the Hall effect rotor-position sensor acquisition speed feedback signal of joining with the three-phase permanent brshless DC motor, DSP is that the control core device is made difference back generation phase change logic with feedback speed signal and reference rotation velocity signal, the power device conducting that the three-phase bridge drive circuit triggers corresponding three-phase bridge power amplifier according to phase change logic commutates and regulates the rotating speed of three-phase permanent brshless DC motor, realizes speed control and adjusting.
Described DSP is that the digital I/O module and the capturing unit module of control core device caught the output signal of Hall effect rotor-position sensor, through computing and after revising as speed feedback signal, and subtract each other with rotary speed reference signal, difference is as the input variable of PID rotating speed control algolithm, the output variable of PID rotating speed control algolithm after the DSP computing is as the current reference of electric current loop pid control algorithm, this current reference, the output signal of the current detecting link of motor is that the current feedback value that the A/D module samples of control core device obtains is subtracted each other through DSP, difference is as the input variable of electric current loop pid control algorithm, be that the value of comparand register of the PWM waveform generation module of control core device compares and generates 6 road pwm signals through the output variable DSP of electric current loop pid control algorithm, 6 road pwm signals commutate and regulate the rotating speed of three-phase permanent brshless DC motor through the three-phase bridge drive circuit and according to the power device conducting that phase change logic triggers corresponding three-phase bridge power amplifier.
Principle of the present invention is: as shown in Figure 3, the output signal of using the increment type shaft-position encoder in the time of in the electric permission range of speeds of increment type shaft-position encoder is as feedback speed signal, adopts the feedback speed signal of the output signal of Hall rotor-position sensor as flywheel when the flywheel rotating speed continues to raise the electric permission rotating speed that surpasses the increment type shaft-position encoder.That is to say that feedback speed signal was provided by the increment type shaft-position encoder when flywheel rotating speed was in the electric permission range of speeds of increment type shaft-position encoder, and the feedback speed signal of speed outside the electric permission range of speeds of increment type shaft-position encoder the time provided by the Hall rotor-position sensor, thereby guaranteed the speed feedback precision of magnetic suspension reaction fly-wheel in whole speed adjustable range, with the digital signal processor DSP be the high accuracy rate mode control that realizes magnetic suspension reaction fly-wheel motor on the control core device, with reference rotation velocity with the feedback rotating speed do the difference after be input to the PID speed control, the output of PID speed control is as the current reference of electric current loop pid control algorithm, subtract each other with the current feedback value that the A/D module samples that through DSP is the control core device obtains, difference is as the input variable of electric current loop pid control algorithm, the output variable of electric current loop pid control algorithm is through being that the value of comparand register of the PWM waveform generation module of control core device compares and generates the PWM waveform with DSP, and pwm signal commutates and regulates the rotating speed of fly-wheel motor through the drive circuit of power amplifier and according to the power device conducting that phase change logic triggers corresponding three-phase bridge power amplifier.
The present invention's advantage compared with prior art is: (1) is flywheel speed and acceleration with the output variable that the flywheel that adopts the Torque Control pattern is compared high-precision rate mode control mode, rather than direct output torque, thereby can effectively suppress the influence of disturbing factor in windage and the loss of electric machine moment etc.; (2) in the electric permission range of speeds of increment type shaft-position encoder, control the high accuracy rate mode control that provides feedback speed signal to realize magnetic suspension reaction fly-wheel motor low speed by the two-way quadrature coding pulse signal of increment type shaft-position encoder, the high accuracy rate mode control the when signal of employing Hall rotor-position sensor has been realized high speed as speed feedback in the time of outside the electric permission range of speeds of increment type shaft-position encoder for the low speed of magnetic suspension reaction fly-wheel motor.
Description of drawings
Fig. 1 is a composition frame chart of the present invention;
Fig. 2 is the structure chart of core controller for DSP of the present invention;
Fig. 3 is a control principle block diagram of the present invention.
Embodiment
As Fig. 1, the present invention is a control core device 1 by DSP, three-phase bridge power amplifier 2, three-phase bridge drive circuit 3, increment type shaft-position encoder 4, three-phase permanent brshless DC motor 5,28V direct current steady power supply 6, ± 15V direct current steady power supply 7, + 5V direct current steady power supply 8, current detecting link 9 and Hall effect rotor-position sensor 10 are formed, speed feedback signal obtains from increment type shaft-position encoder 4 when three-phase permanent brshless DC motor 5 rotating speeds of magnetic suspension reaction fly-wheel hang down, when rotating speed reaches electric permission rotating speed when above, speed feedback signal obtains from Hall effect rotor-position sensor 10, the output signal of Hall effect rotor-position sensor 10 is that the capturing unit of control core device 1 is caught by DSP, and generation phase change logic, the output signal of current detecting link 9 is that the A/D module of control core device 1 is sampled by DSP, DSP is that 6 road pwm signals of control core device 1 output trigger three-phase bridge power amplifier 2 corresponding power devices after three-phase bridge drive circuit 3 carries out power amplification, drive three-phase permanent brshless DC motor 5 and realize rotating speed control and adjusting, three-phase bridge power amplifier 2 is by 6 power supplies of 28V direct current steady power supply, three-phase bridge drive circuit 3 is by 7 power supplies of ± 15V direct current steady power supply, and DSP is a control core device 1 by+5V direct current steady power supply 8 power supplies.
Shown in Fig. 2,3, DSP of the present invention is that control core device 1 is made up of digital I/O module and capturing unit module, A/D module, CPU, memory and PWM waveform generation module.When the rotating speed of the three-phase permanent brshless DC motor 5 of magnetic suspension reaction fly-wheel is low, DSP is that digital I/O module and the capturing unit module in the control core device 1 obtained speed feedback signal from increment type shaft-position encoder 4, when rotating speed reaches the electric permission rotating speed of increment type shaft-position encoder 4 when above, DSP is that digital I/O module and the capturing unit module in the control core device 1 obtained the transhipment feedback signal from Hall effect rotor-position sensor 10, with reference rotation velocity with the feedback rotating speed do the difference after be input to the PID rotational speed governor, the output of PID rotational speed governor is as the current reference of electric current loop pid control algorithm, subtract each other with the current feedback value that through DSP is the current feedback link 9 that obtains of the A/D module samples of control core device 1, difference is as the input variable of electric current loop pid control algorithm, the value of the comparand register in the output variable of the electric current loop pid control algorithm PWM waveform generation module through with DSP being control core device 1 compares and generates the PWM waveform, and pwm signal commutates and regulates the rotating speed of three-phase permanent brshless DC motor 5 through three-phase bridge drive circuit 3 and according to the power device conducting that phase change logic triggers corresponding three-phase bridge power amplifier 2.
Claims (3)
1, a kind of magnetic suspension reaction fly-wheel motor rate mode control system, it is characterized in that comprising: DSP is control core device (1), three-phase bridge power amplifier (2), three-phase bridge drive circuit (3), increment type shaft-position encoder (4), three-phase permanent brshless DC motor (5), current detecting link (9) and Hall effect rotor-position sensor (10), when three-phase permanent brshless DC motor (5) flywheel rotating speed is lower than electric permission rotating speed when following, DSP is a control core device (1) from increment type shaft-position encoder (4) the acquisition speed feedback signal of joining with three-phase permanent brshless DC motor (5); When three-phase permanent brshless DC motor (5) flywheel rotating speed reaches electric permission rotating speed when above, DSP is a control core device (1) from Hall effect rotor-position sensor (10) the acquisition speed feedback signal of joining with three-phase permanent brshless DC motor (5), rotary speed reference signal and feedback speed signal are done to be input to the PID rotational speed governor after the difference, the output of PID rotational speed governor is as the current reference of electric current loop pid control algorithm, subtract each other with the current feedback value that through DSP is the current detecting link (9) that obtains of the A/D module samples of control core device (1), difference is as the input variable of electric current loop pid control algorithm, the value of the comparand register in the output variable of the electric current loop pid control algorithm PWM waveform generation module through with DSP being control core device (1) compares the generation pwm signal, and pwm signal commutates and regulates the rotating speed of three-phase permanent brshless DC motor (5) through three-phase bridge drive circuit (3) and according to the power device conducting that phase change logic triggers corresponding three-phase bridge power amplifier (2).
2, a kind of magnetic suspension reaction fly-wheel motor rate mode control system according to claim 1, it is characterized in that: described three-phase bridge power amplifier (2) is powered by 28V direct current steady power supply (6), three-phase bridge drive circuit (3) is by the power supply of ± 15V direct current steady power supply (7), and DSP is a control core device (1) by+5V direct current steady power supply (8) power supply.
3, a kind of magnetic suspension reaction fly-wheel motor rate mode control system according to claim 1, it is characterized in that: described DSP is that the digital I/O module and the capturing unit module of control core device (1) caught the output signal of Hall effect rotor-position sensor (10), through computing and after revising as feedback speed signal, and subtract each other with rotary speed reference signal, difference is as the input variable of PID rotating speed control algolithm, the output variable of PI D rotating speed control algolithm after the DSP computing is as the current reference of electric current loop pid control algorithm, this current reference subtracts each other with the output signal value of the current detecting link (9) that the A/D module samples that through DSP is control core device (1) obtains, difference is as the input variable of electric current loop pid control algorithm, the output variable of electric current loop pid control algorithm and DSP are that the value of comparand register of the PWM waveform generation module of control core device (1) compares and generates 6 road pwm signals, and 6 road pwm signals commutate and regulate the rotating speed of three-phase permanent brshless DC motor (5) through three-phase bridge drive circuit (3) and according to the power device conducting that phase change logic triggers corresponding three-phase bridge power amplifier (2).
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| CN200710119966A CN100588107C (en) | 2007-08-06 | 2007-08-06 | A kind of magnetic suspension reaction fly-wheel motor rate mode control system |
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| CN200710119966A CN100588107C (en) | 2007-08-06 | 2007-08-06 | A kind of magnetic suspension reaction fly-wheel motor rate mode control system |
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| CN100588107C true CN100588107C (en) | 2010-02-03 |
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Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101734379B (en) * | 2009-12-22 | 2012-11-14 | 北京航空航天大学 | FPGA-based highly-integrated high-precision control system for micro flywheel |
| CN102497148B (en) * | 2011-11-20 | 2013-12-11 | 北京航空航天大学 | High-precision control device for mechanical flywheel |
| CN102854794A (en) * | 2012-08-14 | 2013-01-02 | 王兆进 | Intelligent medium-short wave infrared drying equipment controller |
| CN102868350B (en) * | 2012-09-21 | 2016-03-30 | 中南林业科技大学 | The accurate closed loop starting method of brushless DC motor without position sensor |
| CN102946220B (en) * | 2012-11-21 | 2016-03-30 | 北京信息科技大学 | Speed Regulation System Based on DC Motor and method for control speed |
| CN103853075A (en) * | 2012-11-30 | 2014-06-11 | 上海航天控制工程研究所 | Miniature reaction flywheel control circuit |
| US9093937B2 (en) * | 2013-07-12 | 2015-07-28 | Magnetek, Inc. | Method and apparatus for determining position for a permanent magnet elevator motor |
| CN106814678A (en) * | 2015-11-27 | 2017-06-09 | 中国航空工业集团公司北京航空精密机械研究所 | The safety device of turntable overspeed protection is realized in a kind of utilization dynamic braking |
| CN105738690B (en) * | 2016-02-05 | 2018-11-02 | 上海微小卫星工程中心 | A kind of counteraction flyback dynamic power consumption appraisal procedure of complexity maneuvering satellite |
| CN105552964A (en) * | 2016-02-17 | 2016-05-04 | 王晓民 | Photoelectric complementary system of oilfield pumping unit |
| WO2018032386A1 (en) * | 2016-08-16 | 2018-02-22 | 邹霞 | Single closed-loop control device for controlling brushless direct current electric motor |
| CN106452212A (en) * | 2016-08-16 | 2017-02-22 | 邹霞 | Brushless direct current motor control apparatus based on single-closed-loop control |
| WO2018032432A1 (en) * | 2016-08-17 | 2018-02-22 | 邹霞 | Brushless dc motor control system capable of implementing speed and current double closed-loop control |
| CN113148234B (en) * | 2021-04-07 | 2023-03-28 | 长光卫星技术股份有限公司 | Low-cost high-precision microsatellite reaction flywheel and control implementation method thereof |
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2007
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Non-Patent Citations (2)
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| 磁悬浮飞轮用永磁无刷直流电机数字控制***. 马会来，房建成，刘刚.特微电机，第4期. 2003 |
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