A method for autonomous compensation of rotation speed of a solar panel driving mechanism of a permanent magnet synchronous motor

Abstract

The application relates to a kind of permanent magnet synchronous motor solar panel drive mechanism rotation speed autonomous compensation method: solar panel drive mechanism operating time is divided into multiple adjustment periods at equal intervals, multiple control periods in each adjustment period, steps S1-S2 are executed in each control period until the end time t of adjustment period is entered step S3: S1, using solar panel actual control parameter adjustment amount k, adjusting theoretical command angular velocity ω e ; S2, the theoretical rotation angle Δθ1 that solar panel accumulates is calculated from the starting time of adjustment period to the current time; S3, the actual rotation angle Δθ2 that solar panel accumulates is measured in the whole adjustment period, when Δθ2 is greater than preset threshold, using proportional-integral control algorithm, solar panel actual control parameter adjustment amount k is updated, otherwise, directly enter the step of next adjustment period. t ; S2, the theoretical rotation angle Δθ1 that solar panel accumulates is calculated from the starting time of adjustment period to the current time; S3, the actual rotation angle Δθ2 that solar panel accumulates is measured in the whole adjustment period, when Δθ2 is greater than preset threshold, using proportional-integral control algorithm, solar panel actual control parameter adjustment amount k is updated, otherwise, directly enter the step of next adjustment period. out ​

Description

Technical Field

[0001] This invention relates to a method for autonomous speed compensation of a solar panel drive mechanism, belonging to the field of aerospace control technology. Background Technology

[0002] The solar panel drive mechanism is used to point the solar array of the solar panels toward the sun, thereby enabling the satellite to obtain energy and maintain stable flight in orbit. Currently, controlling the rotation of the solar panels for energy acquisition is no longer the primary factor limiting satellite performance. However, the instability of the solar panel rotation is increasingly affecting the satellite's high-stability control performance.

[0003] The high-stability solar panel drive mechanism uses a permanent magnet synchronous motor. Compared to stepper motor-driven mechanisms, this high-stability mechanism allows for smoother solar panel control. However, due to static error, a small deviation exists between the actual angular velocity of the high-stability drive mechanism and the commanded angular velocity, causing the solar panel's sun-tracking angle to gradually increase. After a period of time, the angle deviation exceeds a threshold (approximately 2.5°), and the computer adjusts the drive mechanism's speed to accelerate it until it triggers another angle deviation threshold in the opposite direction. The computer then reduces the drive mechanism's speed again, and this cycle repeats. Typically, the static error is about 1%, and the drive mechanism's speed is approximately 0.06° / s, resulting in a rotational error of approximately 6e. -4 ° / s, which is approximately 2.5 / 6e -4 = 4177s, adjust the speed of the solar panel drive mechanism once. Adjusting the speed will generate unwanted disturbance torque, thus affecting the stability of the satellite. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose a method for autonomous compensation of the rotational speed of the solar panel drive mechanism, so as to smooth the rotational speed of the solar panel drive mechanism and reduce the impact of changes in the rotational speed of the solar panel drive mechanism on the control of satellite attitude.

[0005] The solution of this invention is: a method for autonomous speed compensation of a permanent magnet synchronous motor solar panel drive mechanism, the method comprising the following steps:

[0006] The operating time of the solar panel drive mechanism is divided into multiple adjustment cycles at equal intervals, and the starting time of the adjustment cycle is defined as... The end time is defined as Each control cycle within each adjustment cycle executes steps S1 to S2 until the end of the adjustment cycle is reached. Proceed to step S3 and update the start time of the next adjustment cycle. End time :

[0007] S1, adopt solar panel actual control parameter adjustment amount , the theoretical command angular velocity of the solar panel driving mechanism in the current control period is calculated , the actual output command angular velocity of the solar panel driving mechanism in the current control period is estimated by adjustment ;

[0008] S2, the cumulative theoretical rotation angle of the solar panel from the starting time to the current control period in the current adjustment period is calculated ;

[0009] S3, the cumulative actual rotation angle of the solar panel in the entire adjustment period is measured When is greater than a preset threshold, a proportional-integral control algorithm is adopted to update the solar panel actual control parameter adjustment amount , otherwise, directly enter the next step of the adjustment period.

[0010] Preferably, the actual output command angular velocity of the solar panel driving mechanism in the current control period in the step S1 is :

[0011] .

[0012] Preferably, the calculation formula of the cumulative theoretical rotation angle of the solar panel from the starting time to the current control period in the current adjustment period in the step S2 is :

[0013]

[0014] Wherein, is the cumulative theoretical rotation angle of the solar panel calculated in the last control period, is the control period time length, and the cumulative theoretical rotation angle of the solar panel at the starting time of each adjustment period is zeroed.

[0015] Preferably, the actual rotation angle of the solar panel in the entire adjustment period in the step S3 is as follows:

[0016]

[0017] the actual angle of the solar panel at the ending time of the adjustment period;

[0018] the actual angle of the solar panel at the starting time of the adjustment period.

[0019] Preferably, in the step S3, the solar panel actual control parameter adjustment amount ​The update formula of is:

[0020]

[0021] wherein, is the actual control parameter adjustment amount of the solar sail in the last adjustment period, is a new information introduction proportion, is an integral coefficient, is a ratio of a cumulative theoretical rotation angle of the solar sail from a starting time of the adjustment period to a current control period to an actual rotation angle of the solar sail from the starting time of the adjustment period to the current control period, , is a theoretical rotation angle at an end time of the adjustment period of the solar sail, is an actual rotation angle at the end time of the adjustment period of the solar sail.

[0022] Preferably, in the step S3, the preset threshold is .

[0023] Preferably, an initial value of the actual control parameter adjustment amount of the solar sail is 1.0.

[0024] Preferably, the adjustment period is set to be 3% to 10% of a time of one rotation of the sail driving mechanism.

[0025] Preferably, the new information introduction proportion is 0.1 to 0.4 by default.

[0026] Preferably, the integral coefficient m is 0.0001 to 0.002.

[0027] The present application has the following beneficial effects compared with the prior art:

[0028] (1) The present application adopts a PI control algorithm according to the characteristics of a turntable of a permanent magnet synchronous motor, designs a rotation speed autonomous compensation method, and realizes smooth sun pointing of the solar sail under the premise of stable sun pointing. Compared with the existing sail driving mechanism step speed regulation technology, the present application eliminates the interference of the sail rotation speed change on the whole satellite attitude.

[0029] (2) The present application autonomously estimates and compensates the "static error" characteristics of the permanent magnet synchronous motor control, and ensures the smooth control of the sail driving mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a flow chart of the sail driving mechanism rotation speed autonomous compensation method of the embodiment of the present application;

[0031] Figure 2 is a sail rotation angle error schematic diagram of a conventional control method of the embodiment of the present application; ​​​

[0032] Figure 3 Figure 1 is a schematic diagram of a sailboard output command speed for a conventional control method of an embodiment of the present application;

[0033] Figure 4 Figure 2 is a convergence of a compensation coefficient after using an autonomous compensation algorithm for an embodiment of the present application;

[0034] Figure 5 Figure 3 is a sailboard rotation angle error after compensation for an embodiment of the present application;

[0035] Figure 6 Figure 4 is a sailboard output command speed after compensation for an embodiment of the present application. DETAILED DESCRIPTION

[0036] The present application is further described below in conjunction with embodiments.

[0037] In order to reduce the interference torque of a high-stability sailboard driving mechanism due to speed adjustment, the present application designs a method for autonomous compensation of a permanent magnet synchronous motor sailboard driving mechanism speed, the permanent magnet synchronous motor sailboard driving mechanism calculates a theoretical command angular velocity every control period, and drives the sailboard to rotate, the method uses a proportional-integral control algorithm, gradually eliminates the angular velocity control error caused by static error through the corresponding relationship between the integral value of the sailboard driving mechanism speed and the high-precision measured angle difference within a period of time, and makes the actual rotation angular velocity of the high-stability sailboard driving mechanism approach the control quantity of the system. Thus, the influence of the sailboard driving mechanism speed change on the satellite attitude control is reduced.

[0038] As shown in Figure 1 , the method for autonomous compensation of a permanent magnet synchronous motor sailboard driving mechanism speed provided by the present application comprises the following steps:

[0039] The operation time of the sailboard driving mechanism is divided into multiple adjustment periods at equal intervals, the starting time of each adjustment period is defined as , the ending time is defined as , steps S1-S2 are executed every control period in each adjustment period, until the ending time of the adjustment period is reached , and step S3 is entered:

[0040] S1, adjusting the theoretical command angular velocity using the sailboard actual control parameter adjustment amount , and estimating the actual output command angular velocity of the sailboard driving mechanism in the current control period:

[0041]

[0042] sailboard actual control parameter adjustment amount The initial value is 1.0.

[0043] S2. Calculate the cumulative theoretical rotation angle of the solar panel from the start of the adjustment period to the current time. ;

[0044] In step S2, the cumulative theoretical rotation angle of the solar panel from the start time to the current control period is... The calculation formula is:

[0045]

[0046] in, The cumulative theoretical rotation angle of the solar panel was calculated for the previous control cycle. To control the cycle length, the solar panel's cumulative theoretical rotation angle is calculated at the beginning of each adjustment cycle. Reset to zero.

[0047] This is equivalent to the following calculation formula:

[0048]

[0049] in, For the current moment, To adjust the start time of the cycle, To control the cycle time length,

[0050] Adjustment period start time and the current moment The following relationship must be satisfied: , To control the cycle number, the first control cycle number within the same adjustment cycle is initialized to 1. This is the control cycle number corresponding to the current moment.

[0051] S3. Measure the actual rotation angle of the solar panel throughout the entire adjustment cycle. ,when When the angle exceeds the preset threshold, the solar panel's cumulative theoretical rotation angle over the entire adjustment cycle is used as the reference. and actual rotation angle The proportional-integral control algorithm is used to update the actual control parameters of the solar panel. Otherwise, proceed directly to the next adjustment cycle. As a preferred option, the preset threshold is... .

[0052] The solar panel's cumulative actual rotation angle throughout the entire adjustment cycle as follows:

[0053]

[0054] Actual angle of the solar panel at the end of the adjustment period;

[0055] Actual angle of the solar panel at the beginning of the adjustment period.

[0056] The present application is based on the characteristics of the high-stability solar panel driving mechanism that the static error is constant, and the PI control algorithm is designed to calculate the solar panel actual control parameter adjustment amount , so that the actual rotation speed is consistent with the theoretically calculated control instruction rotation speed.

[0057] The update formula of the solar panel actual control parameter adjustment amount is:

[0058]

[0059] wherein, is the solar panel actual control parameter adjustment amount of the last adjustment period, is the new information introduction proportion, is the integral coefficient, is the ratio of the cumulative theoretical rotation angle of the solar panel from the beginning of the adjustment period to the current control period to the actual rotation angle . .

[0060] As a preferred solution, the adjustment period is set to 3%~10% of the time of one rotation of the panel driving mechanism. In a specific embodiment of the present application, the adjustment period is 180s~600s. The new information introduction proportion , the default value is 0.1~0.4. The integral amount m is in the range of 0.0001~0.002.

[0061] The above-mentioned permanent magnet synchronous motor solar panel driving mechanism rotation speed autonomous compensation method is executed in the central control unit (CCU).

[0062] Embodiment:

[0063] In a specific embodiment of the present application, a model is established for algorithm simulation according to the above analysis and corresponding parameter settings:

[0064] Wherein, the model parameters are as follows:

[0065] 1) The nominal rotation angular velocity of the panel driving mechanism is 0.06° / s;

[0066] 2) The static error proportion is 0.99;

[0067] 3) The control period is 0.125s;

[0068] 4) The preset threshold is 2.5°, after triggering the threshold, the sailboard angular velocity is adjusted to 0.06±0.0012° / s;

[0069] 5) The simulation duration is 86400s (1 day).

[0070] 6) The adjustment period is 300s

[0071] 7) The actual control parameter adjustment amount of the solar sailboard The initial value is 1.0;

[0072] 8) The new information introduction ratio is 0.2 by default.

[0073] As shown in Figure 2 , due to the existence of "static error" in the high-stability solar sailboard driving mechanism, the SADA rotating speed has an error with the theoretical rotating speed, which causes the SADA rotating angle error to trigger the maximum / minimum error threshold, so that the solar sailboard driving mechanism (SADA) rotating speed exists adjustment, as shown in Figure 3 .

[0074] After using the rotating speed autonomous compensation method in this embodiment, the correction coefficient of the static error is adjusted once every 300s (as shown in Figure 4 ), so that the compensation coefficient gradually offsets the static error;

[0075] As shown in Figure 5 , the error angle of the sailboard rotation gradually converges to 0, and the rotating angle error threshold will not be triggered again;

[0076] As shown in Figure 6 , the sailboard control instruction rotating speed is stable, so as to eliminate the moment caused by the sailboard rotating speed fluctuation.

[0077] In summary, according to the angle output of the control instruction and the actual sailboard driving mechanism angle change, the proportional coefficient of the output is autonomously corrected, and the speed adjustment amount of the sailboard driving mechanism is gradually corrected, instead of the traditional scheme of adjusting the fixed angular velocity for correction, so that the sailboard is stably pointed to the sun under the premise of stable pointing to the sun, compared with the existing sailboard driving mechanism step speed regulation technology, the disturbance of the sailboard rotating speed change to the whole satellite attitude is eliminated.

[0078] Although the present application has been disclosed with reference to the preferred embodiments, it is not intended to limit the present application, and any person skilled in the art can make possible changes and modifications to the technical solutions of the present application using the disclosed methods and technical contents without departing from the spirit and scope of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application without departing from the technical solutions of the present application shall fall within the protection scope of the technical solutions of the present application.

Claims

1. A method for autonomous compensation of the rotation speed of a permanent magnet synchronous motor solar panel drive mechanism, characterized in that The steps are: The operation time of the solar panel driving mechanism is divided into multiple adjustment periods at equal intervals, the starting time of the adjustment period is defined as , the ending time is defined as , each control period in each adjustment period executes steps S1-S2 until the ending time of the adjustment period is reached , step S3 is entered, and the starting time , the ending time of the next adjustment period is updated. S1, adopt solar panel actual control parameter adjustment amount , the permanent magnet synchronous motor solar panel drive mechanism current control cycle calculation theory instruction angular velocity Adjust, estimate the current control cycle solar panel drive mechanism actual output instruction angular velocity ; S2, calculate the solar panel cumulative theoretical rotation angle from the start time to the current control period in the current adjustment period ; S3. Measure the cumulative actual rotation angle of the solar panel throughout the entire adjustment cycle. ,when When the value exceeds the preset threshold, a proportional-integral control algorithm is used to update the adjustment of the actual control parameters of the solar panel. Otherwise, proceed directly to the next adjustment cycle. Solar array actual control parameter adjustment amount The update formula is: wherein, is the actual control parameter adjustment amount of the solar array in the last adjustment period, is the proportion of the new information, is the integral coefficient, is the ratio of the cumulative theoretical rotation angle of the solar array from the start time of the adjustment period to the current control period to the actual rotation angle , , is the theoretical rotation angle at the end of the adjustment period of the array, is the actual rotation angle of the array at the end of the adjustment period.

2. The method for autonomous compensation of the rotation speed of a solar panel drive mechanism of a permanent magnet synchronous motor according to claim 1, characterized in that The command angular velocity actually output by the solar array drive mechanism in the current control period in step S1 is: 。 3. The method for autonomous compensation of the rotation speed of a solar panel drive mechanism of a permanent magnet synchronous motor according to claim 1, characterized in that The accumulated theoretical rotation angle of the solar panel from the starting moment to the current control period in the current adjustment period in step S2 The calculation formula is: Wherein, the accumulated theoretical rotation angle of the solar panel is calculated for the last control period, the control period time length, the accumulated theoretical rotation angle of the solar panel at the beginning of each adjustment period clear.

4. The method for autonomous compensation of the rotation speed of a solar panel drive mechanism of a permanent magnet synchronous motor according to claim 1, characterized in that The actual rotation angle of the entire adjustment period solar panel As follows: Actual angle of the solar array at the end of the adjustment period; Solar array actual angle at beginning of adjustment period.

5. The method for autonomous compensation of the rotation speed of a solar panel drive mechanism of a permanent magnet synchronous motor according to claim 1, characterized in that In the step S3, the preset threshold is .

6. The method for autonomous compensation of the rotation speed of a solar panel drive mechanism of a permanent magnet synchronous motor according to claim 1, characterized in that Solar array actual control parameter adjustment amount The initial value of the parameter is 1.

0.

7. The method for autonomous compensation of the rotation speed of a solar panel drive mechanism of a permanent magnet synchronous motor according to claim 1, characterized in that The adjustment period is set to 3-10% of the time for the sailboard driving mechanism to rotate one round.

8. The method for autonomous compensation of the rotation speed of a solar panel drive mechanism of a permanent magnet synchronous motor according to claim 1, characterized in that the innovation introduction ratio a default value is 0.1~0.

4.

9. The method for autonomous compensation of the rotation speed of a solar panel drive mechanism of a permanent magnet synchronous motor according to claim 1, characterized in that The integral coefficient m is in the range of 0.0001-0.002.

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