A high-precision position identification method for a gyro frame servo system

Abstract

The invention provides a high-precision position identification method for a gyro frame servo system, which includes four-line 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 sensor detects the change of the magnetic field at the end of the motor rotor and converts it into a voltage signal; after the voltage signal is processed by the signal processing module, the signal acquisition module collects it into a digital signal through the AD conversion chip; the signal extraction algorithm suppresses the The amplitude error and high-order harmonics can obtain ideal sine and cosine signals, and realize high-precision angular position calculation; the high-precision angular position is sent to the frame servo control system to obtain accurate driving voltage to realize the frame servo motor. Precise control. The invention can realize high-precision angular position calculation based on the linear Hall sensor, and is beneficial to the stable and high-precision operation of the whole gyro frame servo system.

Description

Technical field [0001] The present invention belongs to a linear Hall sensor, a high-precision low-speed servo control for the frame servo motor, and is specifically related to a high-precision position identification method of a gyro frame servo system. Background technique [0002] The control tummy base has the advantages of large output torque, high precision, no need to consume the work, and is widely used in the gesture control field of large spacecraft such as space stations, spatial telescope, and supermita motor satellite. Control the tummy gymnote consists of two parts: the high speed rotor system and the frame system, the basic working principle is: When the high speed rotor is rotated at a high speed, the frame system changes the direction of the angular momentum to achieve the output of the torque, and control the spacecraft attitude. Since the gyro's angular momentum size is constant, the spacecraft attitude control accuracy and the gyro output torque accuracy are d...

AI Technical Summary

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

Images