Magnetically suspended control moment gyro gimbal and locking control system

Abstract

The invention discloses a magnetically suspended control moment gyro gimbal and a locking control system. The magnetically suspended control moment gyro gimbal mainly comprises a gimbal moment motor, a locking mechanism, an ultrasonic motor, a locking sensor circuit and a digital signal processor (DSP) and field programmable gate array (FPGA) numerical control device, wherein the DSP and FPGA numerical control device comprises a controller area network (CAN) communication circuit, a command parser, a gimbal controller, a locking / unlocking controller, a gimbal motor power drive circuit, an ultrasonic motor power drive circuit and a gimbal motor sensor circuit; the gimbal controller performs the control of three closed loops and two feed forward according to an angle position, an angle speed, a current command value output by the CAN communication circuit and the command parser and a feedback value output by the gimbal motor sensor circuit to realize high precision and rapid response control of the gimbal moment motor; and the locking / unlocking controller selects the resonance frequency of the ultrasonic motor according to the temperature and an axial displacement value output by the locking sensor circuit and positively and negatively rotates the ultrasonic motor respectively according to locking and unlocking commands so as to lock or unlock the locking mechanism.

Description

technical field [0001] The invention relates to a magnetic levitation control torque gyro frame and a locking control system, which is used for high-precision, fast-response control of the magnetic levitation control torque gyro frame torque motor and the locking and unlocking control of the magnetic levitation control torque gyro, and is especially suitable for applications with high requirements Precision spacecraft control actuators with control accuracy, fast response speed, and high reliability. Background technique [0002] The control moment gyroscope (CMG) is the key actuator for the attitude maneuver of large spacecraft such as large satellites and space stations. CMG consists of a high-speed rotor system and a frame moment motor system. According to the different support methods of the high-speed rotor, it is divided into mechanical CMG and magnetic levitation CMG. The magnetic levitation CMG adopts the bearing support method of magnetic levitation. Compared with ...

AI Technical Summary

Problems solved by technology

The existing frame torque motor control methods are divided into two control methods: three-loop control and two-loop control. The two-loop control mode is angular velocity loop and current loop. Since there is no angular position loop, it is difficult to achieve precise control of the angular position of the frame torque motor , so that high-precision control of the output torque direction of the magnetic levitation CMG cannot be realized; the response speed of the traditional three-loop control method is very slow, and the rapid maneuverability of the spacecraft cannot be realized, so the traditional frame torque motor control method cannot meet the high angular position and angular velocity. Unification of precision and fast response control

The locking device of the magnetic levitation CMG can protect the magnetic levitation rotor from being damaged by severe vibration and impact during the rocket launch process. The friction transmission mechanism of the ultrasonic motor can realize self-locking when power is off. The ultrasonic motor does not need power supply during the rocket launch process, which improves the The reliability of the system is very suitable for the locking device of magnetic levitation CMG, but the large amount of heat generated by the friction transmission of the ultrasonic motor makes the resonance mode of the ultrasonic motor shift, especially in a vacuum environment, the heat cannot be dissipated through convection, and the lock at the same time The axial pressure on the ultrasonic motor will also shift its resonance mode when it is tight, which affects the normal operation of the ultrasonic motor, and even stops, so that the locking and unlocking of the locking device cannot be completed.

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