CN106849768A - A kind of superhigh precision TMI scanning control system based on FPGA uniprocessors - Google Patents
A kind of superhigh precision TMI scanning control system based on FPGA uniprocessors Download PDFInfo
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- CN106849768A CN106849768A CN201710055367.7A CN201710055367A CN106849768A CN 106849768 A CN106849768 A CN 106849768A CN 201710055367 A CN201710055367 A CN 201710055367A CN 106849768 A CN106849768 A CN 106849768A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
A kind of superhigh precision TMI scanning control system based on FPGA uniprocessors, including：Master control system and Standby control system, master control system is with Standby control system by central processing unit switching control；FPGA uniprocessors drive the antenna of TMI to be rotated with the nominal scan cycle by closed-loop current control and angular speed closed-loop control motor.Compared with the control system framework of single-chip microcomputer or DSP+FPGA, the speed of service of control algolithm can be not only improved using FPGA uniprocessors, can also be cost-effective, improve system reliability, and, in space industry, for DSP, optional high-quality level FPGA models are more, it is easy to which system physical is realized.Meanwhile, motor carries out closed-loop control and reduces motor speed fluctuation, and second order Nonlinear Tracking Differentiator is used in angular speed closed-loop control, so as to realize 2/10000ths velocity perturbation index request, i.e. under conditions of speed is less than 1r/s, motor speed fluctuation is less than 0.02%, realizes high accuracy scan control.
Description
Technical field
The present invention relates to TMI scanning technique field in space flight, and in particular to a kind of based on FPGA uniprocessors
Superhigh precision TMI scanning control system.
Background technology
TMI is the important payload of wind and cloud string of weather satellite, be responsible for detection global atmosphere in temperature and
Moisture distribution, centering long-range weather forecasting plays an important roll.Key core part therein is scanning driving device, and it is right to be used to
Ground accurate scan.It is domestic at present still at an early stage in terms of high reliability long life turntable driving control technology research, it is necessary to
Rely on foreign countries and introduce solution.Its research fund is up to several ten million yuan and does not say, also because the block of external high-tech constantly aggravates, into
Set is introduced and has been faced with from price is high, the time situation for being changed into embargo long.And this part is the follow-up star of wind and cloud series and military
The essential element of meteorological satellite microwave remote sensing payload, if not carrying out production domesticization research, serious restriction China is being ground and in advance
Grind the completion of satellite model task.Therefore production domesticization research must be carried out to scanning driving device, reduce to external technology according to
Rely, reduce product cost, ensure the lasting success of model task.Most critical technology therein just includes velocity perturbation index request
Superhigh precision scan control method and the design of system for 2/10000ths.
By the retrieval to existing document, discovery has following prior art：First, Application No. 200910082348.9, it is public
The number of opening is the A of CN 101865994, a kind of entitled " scan controller and controlling party of SCM Based microwave radiometer
Method ", the technology gives a kind of scanning control system of the microwave radiometer based on single-chip microcomputer and stepper motor, but the technology
Using the control mode of traditional single-chip microcomputer, drive control is stepper motor, and scan control precision is not high；2nd, Application No.
200920107781.9, Publication No. CN 201589858 U, entitled " the satellite-borne microwave radiometer data of use FPGA technology
Treatment and scanning control system ", the technology employs fpga chip to realize the control circuit part of satellite-borne microwave radiometer, increases
Plus the integration of control circuit, small volume and low in energy consumption, but the control system are not related to high performance servo closed loop and calculate, forever
The servo functions such as magnetic-synchro motor driving；3rd, Application No. 201410438343.6, the A of Publication No. CN 104199475, name
Referred to as " a kind of scanning driving device in space application ", this technology provides a kind of scanning driving device in space application
Machine Design, is not related to the high accuracy scan control of scanning driving device.
The content of the invention
The sweep speed stability of superhigh precision this problem, this Shen are realized under the conditions of low velocity for TMI
A kind of superhigh precision TMI scanning control system based on FPGA uniprocessors please be provided, including master control system and standby
Part control system, master control system and Standby control system mirror image each other, master control system is with Standby control system by centre
Reason device switching control, and Standby control system is used for cold standby；
Master control system includes FPGA uniprocessors, power of motor drive module, motor and sensor interface module；
FPGA uniprocessors are gathered the electric current of motor by power of motor drive module, are gathered by sensor interface module
The angle information of motor, and closed-loop current control is carried out to motor according to electric current, angular speed is carried out to motor according to angle information
Closed-loop control, drives the antenna of TMI to be swept with specified by closed-loop current control and angular speed closed-loop control motor
Retouch cycle rotation.
In a kind of embodiment, closed-loop current control includes：Hysteresis comparison control device, Park inverse transformations, SVPWM modules, electricity
Potential source inverter and Clarke＆Park are converted；
Hysteresis comparison control device, Park inverse transformations, SVPWM modules, voltage source inverter and Clarke＆Park conversion head and the tail
Sequentially coupling is connected.
In a kind of embodiment, angular speed closed-loop control includes PI controllers and Attitude rate estimator module；
The output end of PI controllers is coupled to the input of closed-loop current control, and the output end of closed-loop current control is coupled to
Motor, the output end of motor is coupled to the input of Attitude rate estimator module, and the output end of Attitude rate estimator module is coupled to PI
Controller.
In a kind of embodiment, Attitude rate estimator module includes second order Nonlinear Tracking Differentiator, and the function of second order Nonlinear Tracking Differentiator is：
Wherein, R is the parameter of second order Nonlinear Tracking Differentiator, and θ (t) is that motor is real-time
The angle information of feedback, x1It is the angle information estimated, x2It is the motor angular scanning speed estimated.In a kind of embodiment, second order with
The function of track differentiator changes linear saturation function：
Wherein, δ is another parameter of second order Nonlinear Tracking Differentiator, and
In a kind of embodiment, master control system also includes the RS232 serial communication modulars communicated with FPGA uniprocessors,
RS232 serial communication modulars be used for using standard RS232 serial communication interfaces receive central processing unit telecommand, and on
FPGA uniprocessors are reached, meanwhile, it is additionally operable to for the telemetry intelligence (TELINT) of FPGA uniprocessors to be uploaded to central processing unit.
In a kind of embodiment, master control system also includes the discrete signal interface module communicated with FPGA uniprocessors, from
Scattered signal interface module includes requiring to send several receiving terminals, common ground end, sweep-initiating pulse transmitting terminal and powering state to send
End.
In a kind of embodiment, master control system also includes power transfer module, and power transfer module includes output three not
Same voltage output end.
In a kind of embodiment, master control system also includes analog signal interface module, and analog signal interface module is used to adopt
Collect the electric current of motor, and send to central processing unit after current analog is processed.
In a kind of embodiment, power of motor drive module includes integrated drive chips and three-phase bridge drive circuit.
In a kind of embodiment, sensor interface module is used to receive the angular transducer signal on motor, union treatment
After export to FPGA uniprocessors.
According to the superhigh precision TMI scanning control system of above-described embodiment, due to by FPGA uniprocessors,
Compared with the control system framework of single-chip microcomputer or DSP+FPGA, the speed of service of control algolithm can be not only improved (with single-chip microcomputer
Controller compare), moreover it is possible to it is cost-effective, improve system reliability (with industry commonly use DSP+FPGA controller phase
Than), and, in space industry, with respect to DSP for, optional high-quality level FPGA models are more, it is easy to system physical reality
It is existing.Meanwhile, closed-loop control is carried out to motor by FPGA uniprocessors and reduces motor speed fluctuation, and in angular speed closed-loop control
Shi Caiyong second order Nonlinear Tracking Differentiators, so as to realize 2/10000ths velocity perturbation index request, by the control system of the application
Can make TMI under conditions of speed is less than 1r/s, motor speed fluctuation is less than 0.02%, realize high accuracy scanning control
System.
Brief description of the drawings
Fig. 1 is superhigh precision TMI scanning control system schematic diagram；
Fig. 2 is loop control theory figure；
Fig. 3 is simulation result figure；
Fig. 4 is Fig. 3 simulation result partial enlarged drawings.
Specific embodiment
The present invention is described in further detail below by specific embodiment combination accompanying drawing.
As a key technology of scanning driving device production domesticization research, the research of TMI scanning control system
Difficult point is：To reach 2/10000ths velocity perturbation index request.Realize that the sweep speed of superhigh precision is steady under the conditions of low velocity
Fixed degree is the important content that TMI scanning driving device is developed, and directly determines the service behaviour of antenna part, is
The premise that microwave remote sensing payload plays a role.In order to solve to realize that the sweep speed of superhigh precision is steady under the conditions of low velocity
Surely this problem is spent, this example provides a kind of superhigh precision TMI scanning control system based on FPGA uniprocessors, energy
Enough make scanning driving device under the conditions of speed is less than 1r/s, motor speed fluctuation is less than 0.02%, reaches the state of like product
Border advanced level.
Specifically, as shown in figure 1, the superhigh precision TMI scanning control system of this example includes master control system 1
With Standby control system 2, master control system 1 and Standby control system 2 mirror image each other, master control system 1 and Standby control system 2
By central processing unit switching control, and Standby control system 2 is used for cold standby, and this example is illustrated by taking master control system 1 as an example,
Standby control system 2 refers to master control system 1, does not illustrate.
Master control system 1 includes FPGA uniprocessors 11, power of motor drive module 12, motor 13 and sensor interface mould
Block 14；FPGA uniprocessors 11 are by the electric current of the collection motor 13 of power of motor drive module 12, by sensor interface module
The angle information of 14 collection motors 13, and closed-loop current control is carried out to motor 13 according to electric current, according to angle information to motor
13 carry out angular speed closed-loop control, and TMI is driven by closed-loop current control and angular speed closed-loop control motor 13
Antenna with the nominal scan cycle rotate, motor 13 is controlled by closed-loop current control and angular speed closed-loop control, with
Reduce the velocity perturbation of motor 13.
Wherein, sensor interface module 14 receives the angular transducer signal on motor 13, and is exported after calculation process
To FPGA uniprocessors 11, power of motor drive module 12 includes that the three-phase bridge that integrated drive chips and metal-oxide-semiconductor are built drives electricity
Road, receives the pwm control signal of the output of FPGA uniprocessors 11, is driven amplification, in output to the winding of motor 13, this example
Motor 13 be permagnetic synchronous motor.
Current closed-loop control circuit and angular speed closed control circuit as shown in Fig. 2 wherein, current closed-loop control circuit bag
Include hysteresis comparison control device 001, Parker (Park) inverse transformation 002, SVPWM modules 003, voltage source inverter 004 and Clarke
(Clarke) ＆ Parkers (Park) conversion 005；Hysteresis comparison control device 001, Parker inverse transformation 002, SVPWM modules 003, voltage
Source inventer 004 and the head and the tail sequentially coupling of Clarke ＆ Park Transformations 005 are connected.
Wherein, from physical significance, Park conversion is exactly that, by ia, projection of ib, the ic electric current on α, β axle is equivalent to arrive
It is on d, q axle, the electric current on stator is all equivalent to going on d-axis and quadrature axis.For stable state, after so one is equivalent, iq,
Id is exactly just a constant.Conversely, referred to as Park inverse transformations.
Clarke conversion is that the variable change in three phase static, the abc coordinate systems of 120 degree of mutual deviation is static, mutual to two-phase
In differing from 90 degree of α, β coordinate system.
Angular speed closed control circuit include PI controllers 006 and Attitude rate estimator module 007, PI controllers 006 it is defeated
Go out input of the end coupled to closed-loop current control, the output end of closed-loop current control is coupled to motor 13, the output of motor 13
Coupled to the input of Attitude rate estimator module 007, the output end of Attitude rate estimator module 007 is coupled to PI controllers 006 at end.
Wherein, proportional controller basic control system bandwidth, integral controller is used for reducing steady-state error, meanwhile, angle speed
Degree closed-loop control uses traditional PI controllers, can make control algolithm simple structure, and operand is small, can run on single-chip microcomputer
On this kind of microcontroller.PI control parameters can determine that such as Method of Pole Placement or relay feedback method are real by setting method
The method of (trial-and-error) of can also being gathered by examination in border is obtained.The feedback signal of angular speed closed-loop control comes from
The speed of motor 13 revolved varying signal and calculate, differential noise can be introduced so as to watching due to directly carrying out difference (as M methods)
Clothes control produces influence, therefore, the Attitude rate estimator module of this example is solved under low-speed conditions using second order Nonlinear Tracking Differentiator
Real-time speed is estimated, so as to realize 2/10000ths velocity perturbation index request.
The function of the second order Nonlinear Tracking Differentiator of this example is：Wherein, R be second order with
The parameter of track differentiator, θ (t) is the angle information of motor Real-time Feedback, and the angle information is passed by the angle on motor 13
Sensor is obtained, x1It is the angle information estimated, x2It is the motor angular scanning speed estimated.
To avoid the chatter phenomenon of origin annex, the sign function of second order Nonlinear Tracking Differentiator is rewritten as linear saturation letter
Number, specially：
Wherein, δ is another parameter of second order Nonlinear Tracking Differentiator, and,
Further, the master control system 1 of this example also includes the RS232 serial communication modulars communicated with FPGA uniprocessors 11
15, RS232 serial communication modular 15 uses the RS-232 serial communication interfaces of standard, it is necessary to carry out before serial communication is carried out
Shake hands.RS232 serial communication modulars 15 are referred to by the bus remote control that RS-232 serial communication interfaces receive upper strata central processing unit
Order, and and then transfer to FPGA uniprocessors 11 to be processed, while also in FPGA uniprocessors 11 some state remote measurements believe
Breath is uploaded to upper strata central processing unit.
Further, the master control system 1 of this example also includes the discrete signal interface module communicated with FPGA uniprocessors 11
16, discrete signal interface module 16 builds circuit by corresponding integrated chip, mainly realizes that the level conversion of signal, phase turn
Change and signal shaping, specifically, discrete signal interface module 16 includes requiring to send several receiving terminals, common ground end, scanning
Initial pulse transmitting terminal and powering state transmitting terminal；During discrete signal interface module 16 receives upper stratas by requiring to send several receiving terminals
Several signals are sent in the requirement that central processor is sended over, and the scan period that several signals are motor is sent in the requirement, and the signal is TTL
Level, and transfer to FP6A uniprocessors 11 to be processed.FPGA uniprocessors 11 are received after requirement send several signals, are passed through
RS232 serial communication modulars 15 send a telemetry (cycle of turntable driving motor), meanwhile, every turn of scan driving mechanism
One week, FPGA uniprocessors 11 can be from the specific location of motor 13 allows discrete signal interface module 16 to send a scan period
Initial pulse, pulse signal is negative pulse, and the trailing edge of pulse aligns the assigned position.
Further, the master control system 1 of this example also includes power transfer module 17, and power transfer module 17 includes output three
The 28V power supplys of input are carried out DC-DC conversion by individual different voltage output end, i.e. power transfer module 17, produce 5V, 12V and
The road secondary power supply signals of 28V tri- are driven, wherein, 5V is typically used as controlling the power supply of circuit, and 12V is used as A/D sample circuits and biography
The generation electricity of sensor feedback circuit, 28V is the power supply of three phase bridge circuit.
Further, the master control system 1 of this example also includes analog signal interface module 18, and analog signal interface module 18 is used
Sent to upper strata central processing unit, to telemonitoring after gathering the electric current of motor 13, and current analog is processed.
Master control system 1 receives the telecommand of upper strata central processing unit by RS232 serial communication modulars 15, mono- in FPGA
Instruction conversion, scan control and motor is carried out in processor 11 to drive, most after send drive signal, motor output speeds to motor
And torque, the antenna of TMI is driven, antenna is rotated with the nominal scan cycle；Also, by the precision corner in motor
Degree measurement sensor is measured and sends digitized angle information and participates in the control of motor closed loop rotating speed, effectively reduces motor speed
The fluctuation of degree.
Simulating, verifying, simulated conditions are carried out to the superhigh precision TMI scanning control system that this example is provided：Speed
Estimate that, using the parameter R=1000 of Nonlinear Tracking Differentiator, δ=0.00005R, the speed ring cycle uses 140us；The electric current loop cycle adopts
Use 20us；Simulation result is as shown in figure 3, partial enlarged drawing is as shown in Figure 4.
Define [t0, t1] velocity perturbation error is in the time period：Wherein：
ω (t) sweep speed response curves, ωrIt is the sweep speed reference value for giving.By emulation it is known that the control system of this example
System in stable state speed fluctuating error be：1.265/10000ths, TMI scanning driving device is efficiently solved in low speed bar
Sweep speed stability high (2/10000ths velocity perturbation index requests) this technical barrier under part.These core technologies
Break through and the TMI scanning driving device of China is of great significance, be wind and cloud series of satellites microwave imaging load
High accuracy scan control provide technical support and guarantee.
Use above specific case is illustrated to the present invention, is only intended to help and understands the present invention, is not used to limit
The system present invention.For those skilled in the art, according to thought of the invention, can also make some simple
Deduce, deform or replace.
Claims (11)
1. a kind of superhigh precision TMI scanning control system based on FPGA uniprocessors, it is characterised in that including：It is main
Control system and Standby control system, the master control system and the Standby control system mirror image, the main control system each other
Unite with the Standby control system by central processing unit switching control, and the Standby control system is used for cold standby；
The master control system includes FPGA uniprocessors, power of motor drive module, motor and sensor interface module；
The FPGA uniprocessors are by the electric current of power of motor drive module collection motor, by the sensor interface
Module gathers the angle information of motor, and carries out closed-loop current control to the motor according to the electric current, according to the angle
Information carries out angular speed closed-loop control to the motor, is driven by the closed-loop current control and angular speed closed-loop control described
Motor drives the antenna of TMI to be rotated with the nominal scan cycle.
2. superhigh precision TMI scanning control system as claimed in claim 1, it is characterised in that the current closed-loop
The circuit of control includes：Hysteresis comparison control device, Park inverse transformations, SVPWM modules, voltage source inverter and Clarke＆Park
Conversion；
The hysteresis comparison control device, Park inverse transformations, SVPWM modules, voltage source inverter and Clarke＆Park conversion head and the tail
Sequentially coupling is connected.
3. superhigh precision TMI scanning control system as claimed in claim 1, it is characterised in that the angular speed is closed
The circuit of ring control includes PI controllers and Attitude rate estimator module；
The output end of the PI controllers is coupled to the input of the closed-loop current control, the output of the closed-loop current control
End is coupled to the motor, and the output end of the motor is coupled to the input of the Attitude rate estimator module, the angular speed
The output end of estimation module is coupled to the PI controllers.
4. superhigh precision TMI scanning control system as claimed in claim 3, it is characterised in that the angular speed is estimated
Meter module includes second order Nonlinear Tracking Differentiator, and the function of the second order Nonlinear Tracking Differentiator is：
Wherein, R is the parameter of second order Nonlinear Tracking Differentiator, and θ (t) is motor Real-time Feedback
Angle information, x1It is the angle information estimated, x2It is the motor angular scanning speed estimated.
5. superhigh precision TMI scanning control system as claimed in claim 4, it is characterised in that the second order tracking
Differentiator is into the linear saturation function that function is changed：
Wherein, δ is another parameter of second order Nonlinear Tracking Differentiator,
And,
6. superhigh precision TMI scanning control system as claimed in claim 1, it is characterised in that the main control system
System also includes the RS232 serial communication modulars communicated with the FPGA uniprocessors, and the RS232 serial communication modulars are used to adopt
The telecommand of central processing unit is received with the RS232 serial communication interfaces of standard, and is uploaded to FPGA uniprocessors, meanwhile,
It is additionally operable to for the telemetry intelligence (TELINT) of FPGA uniprocessors to be uploaded to central processing unit.
7. superhigh precision TMI scanning control system as claimed in claim 1, it is characterised in that the main control system
System also includes the discrete signal interface module communicated with the FPGA uniprocessors, and the discrete signal interface module includes requiring
Send several receiving terminals, common ground end, sweep-initiating pulse transmitting terminal and powering state transmitting terminal.
8. superhigh precision TMI scanning control system as claimed in claim 1, it is characterised in that the main control system
System also includes power transfer module, and the power transfer module includes three different voltage output ends of output.
9. superhigh precision TMI scanning control system as claimed in claim 1, it is characterised in that the main control system
System also includes analog signal interface module, and the analog signal interface module is used to gather the electric current of the motor, and will be described
Sent to central processing unit after current analog treatment.
10. superhigh precision TMI scanning control system as claimed in claim 1, it is characterised in that the motor work(
Rate drive module includes integrated drive chips and three-phase bridge drive circuit.
11. superhigh precision TMI scanning control systems as claimed in claim 1, it is characterised in that the sensor
Interface module is used to receive the angular transducer signal on motor, is exported to FPGA uniprocessors after union treatment.
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| CN201710055367.7A CN106849768A (en) | 2017-01-24 | 2017-01-24 | A kind of superhigh precision TMI scanning control system based on FPGA uniprocessors |
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| CN201710055367.7A CN106849768A (en) | 2017-01-24 | 2017-01-24 | A kind of superhigh precision TMI scanning control system based on FPGA uniprocessors |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110069012A (en) * | 2018-01-23 | 2019-07-30 | 北京京东尚科信息技术有限公司 | Control amount for inhibiting noise determines method and apparatus, attitude control system |
| CN113110163A (en) * | 2021-04-13 | 2021-07-13 | 上海卫星工程研究所 | Scanning mechanism control system and method thereof |
| CN115308716A (en) * | 2022-10-12 | 2022-11-08 | 深圳市其域创新科技有限公司 | Scanning apparatus and control method of scanning apparatus |
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| CN101916090A (en) * | 2010-07-14 | 2010-12-15 | 北京航空航天大学 | Unmanned aerial vehicle onboard three-redundancy electrical load management center |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110069012A (en) * | 2018-01-23 | 2019-07-30 | 北京京东尚科信息技术有限公司 | Control amount for inhibiting noise determines method and apparatus, attitude control system |
| CN113110163A (en) * | 2021-04-13 | 2021-07-13 | 上海卫星工程研究所 | Scanning mechanism control system and method thereof |
| CN115308716A (en) * | 2022-10-12 | 2022-11-08 | 深圳市其域创新科技有限公司 | Scanning apparatus and control method of scanning apparatus |
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Application publication date: 20170613 |