CN108811530B - The micro- flywheel drive control method in space and driving control system - Google Patents
The micro- flywheel drive control method in space and driving control system Download PDFInfo
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- CN108811530B CN108811530B CN201318003633.4A CN201318003633A CN108811530B CN 108811530 B CN108811530 B CN 108811530B CN 201318003633 A CN201318003633 A CN 201318003633A CN 108811530 B CN108811530 B CN 108811530B
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Abstract
The present invention relates to the micro- flywheel drive control methods in space and driving control system, this method to make the reference signal of stator phase currents control command using the output signal of linear hall sensor, improves Field orientable control algorithm to realize.In the Magnetic Field Oriented Control Strategies that the present invention realizes, it does not need to carry out cumbersome CLARK-PARK transformation and PARK-CALRK transform operation between static three-axis reference and synchronous rotary two axial coordinate system, it can produce each phase current control command directly in static three-axis reference, the realization difficulty for reducing Field orientable control algorithm reduces the requirement to storage and computing resource.
Description
Technical field
The present invention relates to the drive control field of satellite gravity anomaly executing agency more particularly to a kind of spaces
Micro- flywheel drive control method and driving control system.
Background technique
In three-phase direct-current brushless motor servo system, to realize accurately controlling for motor speed and position,
Generally using the methods of Field orientable control.These control methods require acquisition rotor-position and speed in real time
Feedback signal, and the control to motor stator electric current and direction is realized using these feedback signals.
In the prior art, the detection of rotor-position and speed is by installing 3 switching modes suddenly on motor body
Your sensor and the incremental optical-electricity encoder of certain precision are realized.Using Hall switch sensor and
Incremental optical-electricity encoder can guarantee higher control precision as the servo-system of feedback element, still,
The use of multiple feedback elements increase motor manufacturing cost (for example, precision 1000 lines/turn or more increasing
The market price of amount formula photoelectric encoder even than hundreds of watts motor body prices are also high), and installation procedure is multiple
Miscellaneous (including installation photoelectric encoder and Hall element two procedures), pin count are more (at least needing 10 leads),
Reduce the reliability of servo-system.In addition, utilizing the Field orientable control method of the type servo-system
The vector operation being related between rest frame and rotating coordinate system, operation is cumbersome, and need to expend compared with
More storages and computing resource increase system cost and realize difficulty, indirectly so that the type servo
System is difficult in some occasion (such as micro-nano satellite) applications for requiring high-performance, low cost.
Summary of the invention
The purpose of the present invention is to provide a kind of micro- flywheel drive control method in space and driving control system,
Simplify Field orientable control algorithm, reduce costs, substantially reduce the micro- flywheel entirety in space weight,
Volume, while substantially increasing the reliability of servo-system and the control precision of revolving speed.
To achieve the goals above, the present invention provides a kind of micro- flywheel drive control method in space, including with
Lower step：(1) rate control module of controller turns according to the output of the output signal of linear hall sensor
Square current order Is；(2) current control module of controller is by torque current order IsIt is sensed with linear Hall
The output signal of device is multiplied, and generates each phase current control command ias、ibs、ics；(3) current sampling circuit is adopted
Each phase actual current i of sample motora、ib、ic, and it is conveyed to the current control module；(4) electric current
Control module by each phase current control command respectively corresponding each phase actual current be compared, make it is poor,
Obtain motor stator voltage control command va、vb、vc；(5) the pwm signal generation module pair of controller
Motor stator voltage control command carry out impulse modulation obtain 6 road pulse-modulated signal PWM1~PWM6,6
Road pulse-modulated signal PWM1~PWM6 inputs three-phase inverter.
Wherein, the output signal of the linear hall sensor is generated by three linear hall sensors.
Another technical solution provided by the invention is a kind of micro- flywheel drive control system in space, including motor,
And linear hall sensor, the linear hall sensor are mounted on the motor.
Wherein, the linear hall sensor is three, and three linear hall sensor end faces are horizontal,
And axially retain that height is consistent in motor stator, the spacing of the circumferencial direction of motor stator axis be three/
One pole span.
Wherein, the micro- flywheel drive control system in the space further includes that controller, three-phase inverter and electric current are adopted
Sample circuit；The controller is according to the output signal of the linear hall sensor and current sample electricity
Each phase actual current of motor of road sampling exports 6 road pulse-modulated signals, and 6 road pulse-modulated signals input institute
Three-phase inverter is stated, each phase current output of the three-phase inverter is controlled.
Wherein, the controller include speed calculation module, position computation module, position control module,
Rate control module, current control module and pwm signal generation module；The linear hall sensor
Output signal inputs the speed calculation module, position computation module and current control module respectively；It is described
Each phase actual current of motor of current sampling circuit sampling inputs the current control module；The position control
Molding block is connect with the position computation module；The rate control module calculates mould with the speed respectively
Block, position control module are connected with current control module；The current control module and the pwm signal
Generation module connection；The pwm signal generation module generates 6 road pulse-modulated signals and inputs three contrary
Become device.
The micro- flywheel drive control method in space of the invention and driving control system, are sensed using linear Hall
Device detects revolving speed and the position of rotor, by the output signal (H of linear hall sensora、HbAnd Hc)
Reference signal as motor stator phase current control command generates each directly in static two axis coordinate system
Phase current control command eliminates cumbersome between static two axis coordinate system and synchronous rotary two axial coordinate system
CLARK-PARK transformation and PARK-CALRK transform operation, reduce Field orientable control algorithm
Realization difficulty, reduce the requirement to storage and computing resource, and operational precision is high, control performance is good；
The micro- flywheel drive control method in space of the invention and driving control system, use linear hall sensor
Replace Hall switch sensor and incremental optical-electricity encoder, greatly reduces cost, reduce installation
Process and number of leads improve the reliability of servo-system.
Detailed description of the invention
Fig. 1 is the block diagram of the micro- flywheel drive control system in space of the embodiment of the present invention.
Fig. 2 is the circuit diagram of controller in the embodiment of the present invention.
Fig. 3 is the circuit diagram of three-phase inverter in the embodiment of the present invention.
Fig. 4 is the circuit diagram of current sampling circuit in the embodiment of the present invention.
Specific embodiment
Below in conjunction with the drawings and specific embodiments to the micro- flywheel drive control method in space proposed by the present invention and
Driving control system is described in further detail.
Fig. 1 show the block diagram of the micro- flywheel drive control system in space of the invention.The driving control system packet
Include the motor 10 for being equipped with linear hall sensor, controller 20, current sampling circuit 30 and three-phase inversion
Device 40.
Three linear hall sensors are installed on the motor body of the motor 10, guarantee three when installation
Linear hall sensor end face is horizontal, and three linear hall sensors keep height one in stator shaft orientation
It causes, is one third pole span in the spacing of the circumferencial direction of stator axis.
With continued reference to Fig. 1, the controller 20 includes speed calculation module 21, position computation module 22, position
Set control module 23, rate control module 24, current control module 25 and pwm signal generation module 26.
The speed calculation module 21 receives output signal (the respectively H of three linear hall sensors 12a、
HbAnd Hc), and rotor is calculated with respect to motor according to the output signal of three linear hall sensors
(the output signal reflection rotor of linear hall sensor rotates the rotational speed omega of stator relative to motor stator
Angle, θ).
The position computation module 22 receives output signal (the respectively H of three linear hall sensors 12a、
HbAnd Hc), and calculate according to the output signal of three linear hall sensors the position P of rotor.
The position control module 23 receives the motor rotor position signal that the position computation module 22 exports
(rotor physical location), by the motor rotor position signal and position setting signal P*It is (default in advance
In the rate control module 24) it is compared, makees poor, acquisition and motor after related operation
The related signal ω of rotor speed control*, related operation such as differential.
The rate control module 24 receives the rotor tach signal that the speed calculation module 21 exports
The output signal ω of (rotor actual speed) and the position control module 23*, by the speedometer
Calculate the output signal ω of the rotor tach signal that module 21 exports and the position control module 23*It carries out
It compares, make poor, the acquisition torque current order I after related operations。
Above-mentioned acquisition torque current order IsProcess be known technology (referring to three-phase dc in the prior art without
Three close-loop control thought in brush motor servo-system, the tricyclic are speed ring, position ring and electric current loop),
Therefore the present invention is only briefly described, and the calculation method that is directed to, related operation are not unfolded in detail
Illustrate, but this has no effect on those skilled in the art and implements the present invention.
The current control module 25 receives the torque current order I that the rate control module 24 exportssWith
And output signal (the respectively H of three linear hall sensors 12a、HbAnd Hc), torque current is ordered
Enable IsIt is multiplied with the output signal of linear hall sensor, generates each phase current control command ias、ibs、ics；
Each phase actual current i of 30 sample motor of current sampling circuita、ib、ic, and it is conveyed to the electric current control
Molding block 25；The current control module 25 is by each phase current control command (ias、ibs、ics) respectively with its
Corresponding each phase actual current (ia、ib、ic) be compared, make poor (i.e. iasWith iaBe compared, make it is poor,
ibsWith ibIt is compared, makees poor, icsWith icBe compared, make it is poor), obtain motor stator by related operation
Voltage control command va、vb、vc, related operation is current multiplied by resistance.
The pwm signal generation module 26 receives the motor stator voltage that the current control module 25 exports
Control command (va、vb、vc), and 6 road pulse-modulated signal PWM1~PWM6 of impulse modulation acquisition are carried out, 6
Road pulse-modulated signal PWM1~PWM6 inputs the three-phase inverter 40, controls the three-phase inverter
40 each phase current exports (namely each phase actual current of motor), so that motor 10 described in drive control is transported
Row, passes through the movement of the 10 micro- flywheel in drive control space of motor.
When linear hall sensor is in sine wave air-gap field, output voltage signal not only with air gap
The waveform of Distribution of Magnetic Field is identical, and, phase difference identical as the frequency of back emf waveform is definite value.This
Invention utilizes this feature, by the output signal (H of linear hall sensora、HbAnd Hc) it is used as motor
The reference signal of stator phase currents control command, eliminates static two axis coordinate system and two axis of synchronous rotary is sat
Cumbersome CLARK-PARK transformation and PARK-CALRK transform operation between mark system, directly static
Each phase current control command is generated in two axis coordinate systems, reduces the realization difficulty of Field orientable control algorithm,
Reduce the requirement to storage and computing resource, and operational precision is high, control performance is good.
Inventive point of the invention is revolving speed and position using linear hall sensor detection rotor,
It therefore, can be by the output signal (H of linear hall sensora、HbAnd Hc) it is directly used as motor stator phase
The reference signal of current control order, the operation and signal modulation being during which related to, such as obtain motor stator
Voltage control command va、vb、vcConcrete operation step, the pwm signal generation module 26 is to motor
Stator voltage control command (va、vb、vc) carry out impulse modulation, the prior art all can be used.
Preferably, the output signal of linear hall sensor inputs the controller 20, institute after conditioning
It states conditioning to be for example filtered the output signal of linear hall sensor, to improve linear hall sensor
The quality of output signal；The output signal of linear hall sensor is analog signal, and the controller 20
What is usually handled is digital signal, and therefore, the output signal of linear hall sensor inputs the controller
Analog-to-digital conversion is first carried out before 20, naturally it is also possible to which analog-digital converter is integrated in the controller.
In a preferred embodiment of the present invention, the controller 20 uses STM32F103C8T6 chip, the core
Piece is as shown in Figure 2.The controller chip has the PWM interface of 3 pair of 6 road phase complements, can be used for brushless electricity
The switching signal of machine drive axle.The controller chip general purpose timer has Hall sensor interface, can be with
The commutation of brushless motor is easily judged using timer.Controller chip general purpose I/O the pin can be used as
The input port of analog signal, inside are equipped with 12 A/D converters, can directly connect with linear hall sensor.
The working frequency of microcontroller is obtained after PLL frequency multiplication by external crystal-controlled oscillation, and maximum operating frequency can
To reach 72MHz.Internal RAM and ROM meet program requirement and greatly reduce electricity without extension
The space on road.
Core of the controller chip as driving control system is the main logic commutation for completing motor, right
It is controlled after various information integrated treatment by PWM and realizes that the speed of motor and direct torque, realization revolving speed are closed
Ring control realizes that smooth soft start, completing all kinds of protection acts, (including current protection, operating are abnormal
Protection, sensor signal error protection etc.), complete analog signal A/D conversion and acquisition, complete with it is upper
Position machine digital communication and execute host computer instruction etc..
Fig. 3 show the circuit diagram of three-phase inverter in a preferred embodiment of the present invention, and Fig. 3 is illustrated only
A wherein phase, other two-phases are identical, therefore omit.Three-phase inverter 40 described in the present embodiment uses
Three phase full bridge driving, the three phase full bridge that entire driving circuit is constituted using MOSFET are equipped with full-bridge drive simultaneously
Realize that MOSFET is used and is integrated with the chip of two N-channel field-effect tube, very big to reduce in dynamic circuit
The volume of circuit, the rated current for the field-effect tube being internally integrated have respectively reached 8.6A and 6.3A, have examined
Consider motor drive current < 500mA, so chip is entirely capable of reaching circuit requirement, and due to
Its calorific value is small, and chip is installed without band Special heat dissipating piece or metal shell.Full-bridge driving circuit is adopted
It is realized with full bridge driver, chip can effectively be prevented per se with the logical interlock function of output phase sequence
The only damage of mislead bring motor or the driving tube of three phase full bridge driving.
Fig. 4 show the circuit diagram of current sampling circuit in a preferred embodiment of the present invention.Control circuit pair
Fly-wheel motor current limitation 500mA design, DSP turns off it and controls bridge up and down when more than 500mA electric current
SVPWM output so that fly-wheel motor maximum average current be no more than 500mA.
Claims (5)
1. the micro- flywheel drive control method in space, which is characterized in that include the following steps：
(1) rate control module of controller is electric according to the output signal output torque of linear hall sensor
Stream order Is；
(2) current control module of controller is by torque current order IsWith the output of linear hall sensor
Signal multiplication generates each phase current control command ias、ibs、ics；
(3) each phase actual current i of current sampling circuit sample motora、ib、ic, and it is conveyed to the electric current
Control module；
(4) each phase current control command is distinguished corresponding each mutually practical electricity by the current control module
Stream is compared, it is poor to make, and obtains motor stator voltage control command va、vb、vc；
(5) the pwm signal generation module of controller carries out impulse modulation to motor stator voltage control command
Obtain 6 road pulse-modulated signal PWM1~PWM6,6 road pulse-modulated signal PWM1~PWM6 input three
Phase inverter controls each phase current output of the three-phase inverter, thus drive control motor operation,
Pass through the movement of the micro- flywheel in drive and control of electric machine space.
2. the micro- flywheel drive control method in space as described in claim 1, which is characterized in that the line
The output signal of property Hall sensor is generated by three linear hall sensors.
3. the micro- flywheel drive control system in space, including motor, which is characterized in that the micro- flywheel in the space drives
Autocontrol system further includes linear hall sensor, controller, three-phase inverter and current sampling circuit,
The linear hall sensor is mounted on the motor；
The controller is adopted according to the output signal and the current sampling circuit of the linear hall sensor
Each phase actual current of the motor of sample exports 6 road pulse-modulated signals, 6 road pulse-modulated signals input described three
Phase inverter controls each phase current output of the three-phase inverter, thus drive control motor operation,
Pass through the movement of the micro- flywheel in drive and control of electric machine space.
4. the micro- flywheel drive control system in space as claimed in claim 3, which is characterized in that the line
Property Hall sensor be three, three linear hall sensor end faces are horizontal, and in motor stator axis
It is one third pole span in the spacing of the circumferencial direction of motor stator axis to keeping height consistent.
5. the micro- flywheel drive control system in space as claimed in claim 3, which is characterized in that the control
Device processed includes speed calculation module, position computation module, position control module, rate control module, electricity
Flow control module and pwm signal generation module；
The output signal of the linear hall sensor inputs the speed calculation module respectively, position calculates
Module and current control module；
Each phase actual current of motor of the current sampling circuit sampling inputs the current control module；
The position control module is connect with the position computation module；
The rate control module respectively with the speed calculation module, position control module and current control
Module connection；
The current control module is connect with the pwm signal generation module；
The pwm signal generation module generates 6 road pulse-modulated signals and inputs the three-phase inverter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201318003633.4A CN108811530B (en) | 2013-08-01 | 2013-08-01 | The micro- flywheel drive control method in space and driving control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201318003633.4A CN108811530B (en) | 2013-08-01 | 2013-08-01 | The micro- flywheel drive control method in space and driving control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106843256A (en) * | 2017-03-30 | 2017-06-13 | 上海航天控制技术研究所 | One kind uses the two circuit satellite control method of position and speed |
| CN108267981A (en) * | 2017-12-14 | 2018-07-10 | 中国电子科技集团公司第三十二研究所 | Dual-channel electric servo control system based on antifuse type FPGA |
| CN116902228A (en) * | 2023-09-06 | 2023-10-20 | 长光卫星技术股份有限公司 | Flywheel system, driving control method thereof, electronic equipment and storage medium |
-
2013
- 2013-08-01 CN CN201318003633.4A patent/CN108811530B/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106843256A (en) * | 2017-03-30 | 2017-06-13 | 上海航天控制技术研究所 | One kind uses the two circuit satellite control method of position and speed |
| CN106843256B (en) * | 2017-03-30 | 2020-08-07 | 上海航天控制技术研究所 | Satellite control method adopting position and speed double loops |
| CN108267981A (en) * | 2017-12-14 | 2018-07-10 | 中国电子科技集团公司第三十二研究所 | Dual-channel electric servo control system based on antifuse type FPGA |
| CN116902228A (en) * | 2023-09-06 | 2023-10-20 | 长光卫星技术股份有限公司 | Flywheel system, driving control method thereof, electronic equipment and storage medium |
| CN116902228B (en) * | 2023-09-06 | 2023-11-17 | 长光卫星技术股份有限公司 | Flywheel system, driving control method thereof, electronic equipment and storage medium |
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