High-precision position identification method for gyro frame servo system

Abstract

The invention provides a high-precision position identification method for a gyro frame servo system. A device used by the method comprises four linear Hall sensors, a signal processing module, a signal acquisition module, a signal extraction algorithm, a frame servo control system and a frame servo motor. The linear Hall sensors detect the magnetic field change at the end part of the motor rotor and converts the magnetic field change into a voltage signal; after the voltage signal is processed by the signal processing module, the signal acquisition module acquires the voltage signal into a digital signal through an AD conversion chip; the signal extraction algorithm suppresses amplitude errors and higher harmonics in the digital signal, ideal sine and cosine signals are obtained, and high-precision angular position calculation is achieved; and the high-precision angular position is sent to the frame servo control system to obtain accurate driving voltage so as to realize accurate control of a frame servo motor. High-precision angular position calculation based on the linear Hall sensor can be realized, and stable and high-precision operation of the whole gyroscope frame servo system is facilitated.

Description

technical field [0001] The invention belongs to the field of high-precision and low-speed servo control of a frame servo motor based on a linear Hall sensor, and specifically relates to a high-precision position identification method of a gyro frame servo system. Background technique [0002] The control moment gyroscope has the advantages of large output torque, high precision, no need to consume working fluid, and long life. Therefore, it is widely used in the field of attitude control of large spacecraft such as space stations, space telescopes, and ultra-agile mobile satellites. The control moment gyro is composed of high-speed rotor system and frame system. Its basic working principle is: when the high-speed rotor rotates at high speed, the frame system changes the direction of angular momentum to realize the output of torque and control the attitude of the spacecraft. Since the angular momentum of the gyroscope is constant, the accuracy of the attitude control of the s...

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Problems solved by technology

[0005] The technical problem to be solved by the present invention is: to overcome the problem of inaccurate calculation of the rotor position caused by Hall sensor output sine and cosine signal amplitude errors and high-order harmonics, and propose a high-precision position control system for gyro frame servo systems based on Hall sensors. Identification method, this method provides a signal reconstruction method to suppress the high-order harmonics contained in the signal on the basis of normalizing the two original signals to suppress the amplitude error, and finally suppresses the reconstruction by discrete ESO The disturbance information still contained in the sine and cosine signals, so as to obtain the ideal angular position information, to ensure the accuracy requirements of the gyro output torque

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