A debugging device and method for rotating components of space optical payload

Abstract

The present invention provides a debugging device and method for a rotating component of a space optical payload. It is based on a two-phase eight-beat stepper motor control system, including a rotating component structure, a stepper motor, a micro switch, a drive controller and a host computer. The parameters such as the number of steps, direction, speed and duty cycle of the drive width modulation wave of the stepper motor are set by the host computer, and the optimal parameters for the operation of the stepper motor can be found according to the analysis of the automatic test software and its saved data. After obtaining the optimal operating parameters, the micro switches on both sides for positioning / limiting are continuously hit again using the automatic test software to reset, and the returned state information is recorded at the same time, and the position of the micro switch is fine-tuned so that the stepper motor is in the middle position between the full step and the half step when it is turned on. The adjustment method provided by the present invention is simple, reliable and easy to implement, and can effectively obtain the optimal parameters for the operation of the stepper motor, and can accurately locate the installation position of the micro switch, effectively ensuring the positioning accuracy of the stepper motor.

Description

Technical Field

[0001] The invention belongs to the field of atmospheric environment detection, and in particular relates to a debugging device and method for a rotating component of a space optical payload. Background Art

[0002] The ultraviolet hyperspectral atmospheric composition detector is a space optical payload that has the ability to detect trace amounts of polluted gases in the target area. The payload has two detection optical paths, namely the main optical path and the calibration optical path. The main optical path detects the sunlight backscattered from the ground for inversion of gas concentrations; the calibration optical path detects direct sunlight for spectral calibration. The two optical paths are switched by rotating parts. The main components of the rotating parts are stepper motors and micro switches. The stepper motor is used for optical path switching, and the micro switch is used for resetting and limiting. The operating parameters of the stepper motor and the positioning accuracy of the micro switch directly affect the payload detection performance and are key factors in payload performance.

[0003] Since the stepper motor moves according to the current excitation in the winding coil, the motor runs one step every time the current switches, which inevitably produces jitter. The jitter amplitude is related to the speed and the duty cycle of the drive width modulation wave: too high or too low speed, insufficient duty cycle of the width modulation wave, improper coordination of speed and duty cycle of the width modulation wave, braking and commutation may all cause the motor to lose steps and jitter. Because each rotating part is unique, its motor performance, micro switch position, rotating part structure, etc. may be different, so the optimal operating parameters of the motor for each rotating part are also different.

[0004] For reliability reasons, it is usually not desirable to frequently adjust the load parameters on-orbit. Therefore, before entering orbit, it is necessary to set the operating parameters of the stepper motor, that is, to set the speed and duty cycle of the width modulation wave. Ideally, it is hoped that these parameters will remain unchanged for a long time. In the later stage of the load's on-orbit operation, the running resistance of the stepper motor will increase, and it is necessary to increase the motor's torque by slowing down the speed or increasing the duty cycle of the rotation width modulation wave. It is usually hoped that the duty cycle of the width modulation wave will be adjusted first, and then the speed will be adjusted while the speed remains unchanged. Therefore, when looking for the best parameters, first determine the speed so that it can adapt to the duty cycle of the rotation width modulation wave as much as possible, and then select the smallest duty cycle of the adapted width modulation wave to reduce the torque, power consumption and wear.

[0005] After completing the parameter setting, the stepper motor starts to work normally. The stepper motor adopts an open-loop control method, and the rotating mechanism uses a micro switch for positioning and limit. The specific working method is: (1) First, the load master sends a reset command, and the motor starts to run; (2) Then, when the micro switch conduction signal feedback is received, the motor immediately retreats an integer number of steps in the opposite direction, and this position is the reference position (reset position); (3) Finally, the master sends the number of steps required to rotate (this number of steps is determined according to the optical path during debugging), and the motor runs to the position.

[0006] like Figure 1 As shown in the figure, the stepper motor used in the load is a 2-phase 4-wire stepper motor with a step angle of 1.8° and a 2-phase eight-beat operation mode: AB→B→A~B→A~A~B~B~AB~A, and the corresponding drive phase sequence is 1→2→3→4→5→6→7→8. Since the winding coil passes current during the operation of the motor, it will interfere with the imaging component and reduce the signal-to-noise ratio of the spectrometer; in addition, long-term power supply will aggravate the temperature rise of the motor and affect its service life. Therefore, the motor has no live holding function and only stops in the single-step position, which is the self-positioning torque holding position, that is, A, A~, B, B~ position.

[0007] When the motor hits the micro switch during the A-AB process, it will back off by an even number of steps; when it hits the micro switch during the AB-B process, it will back off by an odd number of steps; in this way, the stop position is always at the single-step position. However, when the micro switch is too close to A, AB or B, the stepper motor may accidentally hit the micro switch and the return phase sequence may be uncertain because the stepper motor will always have a slight shake.

[0008] Chinese invention patent CN112737437A proposes a solution to this situation, but the influence of speed and duty cycle of the modulation width wave is not sufficiently considered during the debugging process. At the same time, it does not adopt the software automatic testing method, and the method efficiency is relatively low. Summary of the invention

[0009] The present invention provides a debugging device and method for a rotating component of a space optical load, so as to solve the problem of setting the parameters of a stepper motor and adjusting the position of a micro switch in the rotating component. The debugging method is applied in the optical machine assembly and testing stage, and can accurately find the optimal parameters for the operation of the stepper motor, and accurately calibrate the exact position of the micro switch. It effectively avoids the occurrence of loss of step and ensures the positioning accuracy of the rotating component.

[0010] In order to achieve the above object, the technical solution adopted by the present invention is:

[0011] A debugging device for a rotating component of a space optical payload comprises a rotating component structure, a stepping motor, a micro switch, a drive controller and a host computer, wherein the rotating component structure comprises a rotating disk and a shift lever; wherein the rotating disk is fixed on the motor output shaft and is used to install a calibration plate assembly and a switching mirror; the rotating disk follows the motor output shaft and rotates to different angles to switch the calibration assembly and the switching mirror; the micro switch is fixed on the outer wall of the motor base, the shift lever is fixed below the edge of the rotating disk and is on a concentric circle with a micro switch trigger arm, and can be operated clockwise or counterclockwise to strike the micro switch trigger arm, so that the micro switch triggers a conduction signal, and the conduction signal is received by a main control FPGA to perform a corresponding action, thereby accurately calibrating the reset position of the rotating disk; the host computer sends a control command to the drive controller of the motor, and the drive controller parses the motor drive signal after receiving the command to drive the stepping motor to rotate, and the conduction signal of the micro switch is fed back to the host computer through the drive controller.

[0012] The present invention also provides a method for debugging a rotating component of a space optical payload, which specifically comprises the following steps:

[0013] Step 1: Install the first micro switch and the second micro switch on both sides of the outer wall of the motor base. The motor moves clockwise to the limit position to hit the first micro switch, and rotates counterclockwise to the limit position to hit the second micro switch;

[0014] Step 2: According to the debugging requirements, the speed of the motor is divided into n levels from S1 to Sn, where n is a continuous natural number; the duty ratio of the drive width modulation wave of the drive motor is divided into m levels from T1 to Tm, where m is a continuous natural number.

[0015] Step 3: Connect the motor drive controller and the host computer, adjust the motor to the position one step before the first micro switch is turned on, and this position is used as the initial position of the debugging scheme, i.e., the first position; the position one step before the second micro switch is turned on is set as the third position; the midpoint between the first position and the third position is set as the second position;

[0016] Step 4, using the host computer to make the motor run to different positions at different speeds and duty cycles; each time after reaching a position, the motor stops, and the host computer automatically records the phase at this time;

[0017] Step 5: fix the motor speed to S1, and then rotate it in the following manner with duty ratios from T1 to Tm: first position - second position - third position - second position - first position, run each duty ratio i times, and run a total of m*i times at S1 speed, which can be customized by the user. Generally, the more experiments, the higher the reliability. It is recommended that i should not be less than 20 times.

[0018] Step 6: If the motor hits any micro switch during operation, the test stops, indicating that the speed S1 and the corresponding duty cycle of the modulation width wave do not meet the requirements;

[0019] Step 7: If the motor does not hit any micro switch during operation, compare the phase of each operation. If the motor phase corresponding to each position is always consistent, it means that the speed S1 and the duty cycle of the modulation width wave meet the requirements;

[0020] Step 8, repeating steps 5 to 7 for speeds S2 to Sn to select available speeds;

[0021] Step 9, select the speed Sx that best matches the duty cycle in step 8, hit the first micro switch N times with different duty cycles, record the returned phase sequence α and the phase sequence β when hitting the micro switch, if the returned phase sequence α and phase sequence β are consistent each time, it means that the first micro switch is in a good position;

[0022] Step 10: If the phase sequence returned each time is inconsistent, fine-tune the position of the first micro switch and fix it, and repeat step 9 until a state in which the phase sequence is consistent is found, and record the position P1 of the first micro switch;

[0023] Step 11: Repeat steps 8 and 9 for the second micro switch, and record the position P2 of the micro switch.

[0024] The advantages of the present invention compared with the prior art are:

[0025] (1) The present invention uses software scripts to find the optimal parameters for motor operation, which is easy to operate and solves the problem that it is inconvenient to use external accessories (such as laser pens) to test load samples.

[0026] (2) The present invention simplifies the micro switch debugging method, is convenient to operate, easy to repeat, and accurate to adjust, and has guiding significance in the optical machine assembly test process.

[0027] (3) The present invention is based on both the principle and the actual application scenario to determine the optimal parameters for motor operation and the position of the micro switch, which are consistent with the load usage status. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the motor drive timing and position in the prior art;

[0029] Figure 2 It is a schematic diagram of the structure of the rotating component of the present invention;

[0030] Figure 3 This is a block diagram of the driver principle of the present invention.

[0031] Figure 4 This is the upper computer software diagram implemented by the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0033] A debugging device for a rotating component of a space optical load according to the present invention is as follows Figure 2 As shown, it mainly includes a rotating component structure 3, a stepping motor 2, a first micro switch 0 and a second micro switch 1, etc. The rotating component structure 3 includes a rotating disk 4 and a shift lever 5. The rotating disk 4 is fixed on the motor output shaft 6, and the rotating disk 4 is used to install the calibration component and the switching mirror 7; the rotating disk 4 follows the motor output shaft 6 and rotates to different angles to switch the calibration component and the switching mirror 7; the first micro switch 0 and the second micro switch 1 are fixed on the outer wall of the motor base 8, and the shift lever 5 is fixed below the edge of the rotating disk 4, and is on a concentric circle with the trigger arms of the first micro switch 0 and the second micro switch 1, and can be operated clockwise or counterclockwise to hit the trigger arms of the first micro switch 0 and the second micro switch 1. At this time, the micro switch triggers a conduction signal, and the conduction signal is received by the drive controller 9 to perform corresponding actions, thereby accurately calibrating the reset position of the rotating disk 4. The host computer 10 sends a control command to the motor drive controller 9. After receiving the command, the drive controller 9 parses the motor drive signal to drive the stepper motor 2 to rotate. The conduction signals of the first micro switch 0 and the second micro switch 1 are fed back to the host computer through the drive controller 9.

[0034] The principle block diagram of the drive controller 9 is as follows: Figure 3 As shown in the figure, it consists of an RS422 differential interface, a main control FPGA, a motor driver chip LMD18200, and a micro switch action detection circuit. The RS422 differential interface is connected to the serial communication of the load master controller. As the control core of the drive controller, the main control FPGA is responsible for communicating with the load master controller, generating a control signal of the driver chip LMD18200, and controlling the movement of the stepper motor; at the same time, by detecting the micro switch action signal, the initial zero position of the rotating part is determined. As a dual-channel H-bridge drive circuit, LMD18200 controls the current direction and current size of the stepper motor and drives the stepper motor to move according to the control signal of the main control FPGA. The micro switch action detection circuit processes the action signal of the micro switch and then sends the action signal to the main control FPGA.

[0035] Specifically, the specific steps of the debugging method for the rotating component of the space optical payload of the present invention are as follows:

[0036] Step 1: Install the first micro switch 0 and the second micro switch 1 on both sides of the outer wall of the motor base 8. The motor moves clockwise to the limit position to hit the first micro switch 0, and rotates counterclockwise to the limit position to hit the second micro switch 1;

[0037] Step 2: According to the debugging requirements, the motor speed is divided into n levels from S1 to Sn, where n is a continuous natural number; the width modulation wave duty ratio is divided into m levels from T1 to Tm, where m is a continuous natural number;

[0038] Step 3: Connect the motor drive controller and the host computer, adjust the motor to the position one step before the first micro switch 0 is turned on, and this position is used as the initial position of the debugging scheme, namely the first position a; the position one step before the second micro switch 1 is turned on is set as the third position c; the midpoint between the first position a and the third position c is set as the second position b;

[0039] Step 4, using the host computer to make the motor run to different positions at different speeds and duty cycles; each time after reaching a position, the motor stops, and the host computer automatically records the phase at this time;

[0040] Step 5: fix the motor speed to S1, and then rotate it in the following manner with duty ratios from T1 to Tm: first position a-second position b-third position c-second position b-first position a, run i times for each duty ratio, and run m*i times at S1 speed, where i can be defined by the user. Generally, the more experiments are conducted, the higher the reliability is. It is recommended that i should be no less than 20 times.

[0041] Step 6: If the motor hits any micro switch during operation, the test stops, indicating that the speed S1 and the corresponding duty cycle of the modulation width wave do not meet the requirements;

[0042] Step 7: If the motor does not hit any micro switch during operation, compare the phase of each operation. If the motor phase corresponding to each position is always consistent, it means that the speed S1 and the duty cycle of the modulation width wave meet the requirements;

[0043] Step 8, repeating steps 5 to 7 for speeds S2 to Sn to select available speeds;

[0044] Step 9, select the speed Sx that best matches the duty cycle in step 8, hit the first micro switch 0 N times with different duty cycles, record the returned phase sequence α, and the phase sequence β when hitting the micro switch, if the returned phase sequence α and phase sequence β are consistent each time, it means that the first micro switch is in a good position;

[0045] Step 10: If the phase sequence returned each time is inconsistent, fine-tune the position of the first micro switch 0 and fix it, and repeat step 9 until a state in which the phase sequence is consistent is found, and record the position P1 of the first micro switch 0;

[0046] Step 11: Repeat steps 8 and 9 for the second micro switch 1, and record the position P2 of the second micro switch 1. The present invention is described in detail with a specific embodiment below. The debugging method of the embodiment of the present invention specifically includes the following steps:

[0047] Step 1: Install the first micro switch and the second micro switch on both sides of the outer wall of the motor base. The motor moves clockwise to the limit position to hit the first micro switch, and rotates counterclockwise to the limit position to hit the second micro switch;

[0048] Step 2. According to the test requirements, divide the stepper motor speed into 10 levels, from 500 to 1400 (interval 100, 500 is 62 steps / second, the formula is: 1000000 / 32 / speed value, unit: step / second); divide the width modulation wave duty cycle into 3 levels, 10 to 30 (interval 10, 10 is 25%, the formula is: (width modulation wave duty cycle-2)*100 / 32, unit: duty cycle%).

[0049] Step three, connect the motor drive controller and the host computer software, adjust the motor to the position one step before the first micro switch is turned on, and this position is used as the initial position of the debugging method, namely the first position a; the position one step before the second micro switch is turned on is set as the third position c; the midpoint of the first position and the third position is set as the second position b.

[0050] Step 4: The host computer is provided with an automatic test script, which can allow the motor to run to different positions at different speeds and duty cycles.

[0051] Step 5: Use the automatic test script to fix the motor speed at 500, and then rotate it with a duty cycle of 10 to 30: first position a-second position b-third position c-second position b-first position a. Run 20 times for each duty cycle, and a total of 60 times at a speed of 500. Each time the motor reaches a position, it stops and the software automatically records the phase at this time.

[0052] Step 6: If the motor hits the micro switch during operation, the test stops, indicating that the speed 500 and the corresponding duty cycle of the width modulation wave do not meet the requirements.

[0053] Step 7. If the motor does not hit the micro switch during operation, compare the phase of each operation. If the motor phase corresponding to each position is always consistent, it means that the speed 500 and the corresponding width modulation wave duty cycle meet the requirements.

[0054] Step 8: Repeat steps 5 to 7 for speeds from 600 to 1400 to filter out available speeds.

[0055] Step nine, select the speed 600 in step eight, because there is no step-out phenomenon at 600 under the duty cycle of 10 / 20 / 30. Use three different width modulation wave duty cycles to hit each micro switch 100 times. The software automatically records the phase sequence α returned each time and the phase sequence β when hitting the micro switch. If the returned phase sequence α or β is inconsistent, it means that the micro switch position needs to be adjusted.

[0056] Step 10, fine-tune the position of the first micro switch 0 and fix it, repeat step 9, successfully find the state of returning to the consistent phase sequence, and record the position P1 of the first micro switch 0.

[0057] Step 11: Repeat steps 9 and 10 for the second micro switch 1 , and record the position P2 of the second micro switch 1 .

[0058] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A debugging method for a debugging device of a rotating component of a space optical payload, characterized in that: The debugging device for the rotating component of the space optical payload includes a rotating component structure, a stepper motor, a micro switch, a drive controller and a host computer, wherein the rotating component structure includes a rotating disk and a gear lever; wherein the rotating disk is fixed on the motor output shaft and is used to install the calibration component and the switching mirror; the rotating disk follows the motor output shaft and rotates to different angles to switch the calibration component and the switching mirror; the micro switch is fixed on the outer wall of the motor base, and the gear lever is fixed below the edge of the rotating disk and is on a concentric circle with the micro switch trigger arm, and can be operated clockwise or counterclockwise to hit the micro switch trigger arm, so that the micro switch triggers a conduction signal, and the conduction signal is received by the drive controller and performs corresponding actions, thereby accurately calibrating the reset position of the rotating disk; the host computer sends a control command to the drive controller of the motor, and the drive controller parses the motor drive signal after receiving the command, drives the stepper motor to rotate, and the conduction signal of the micro switch is fed back to the host computer through the drive controller; the micro switch includes a first micro switch and a second micro switch; The debugging method comprises the following steps: Step 1: Install the first micro switch and the second micro switch on both sides of the outer wall of the motor base. The motor moves clockwise to the limit position to hit the first micro switch, and rotates counterclockwise to the limit position to hit the second micro switch; Step 2: According to the debugging requirements, the motor speed is divided into n levels from S1 to Sn, where n is a continuous natural number; the width modulation wave duty ratio is divided into m levels from T1 to Tm, where m is a continuous natural number; Step 3: Connect the motor drive controller and the host computer, adjust the motor to the position one step before the first micro switch is turned on, and this position is used as the initial position of the debugging scheme, i.e., the first position; the position one step before the second micro switch is turned on is set as the third position; the midpoint between the first position and the third position is set as the second position; Step 4, using the host computer to make the motor run to different positions at different speeds and duty cycles; each time after reaching a position, the motor stops, and the host computer automatically records the phase at this time; Step 5: Fix the motor speed to S1, and then rotate it in the following manner with duty ratios from T1 to Tm: first position - second position - third position - second position - first position, run i times for each duty ratio, and run m times at S1 speed. i times, where i is defined by the user and i is not less than 20; Step 6: If the motor hits any micro switch during operation, the test stops, indicating that the speed S1 and the corresponding duty cycle of the modulation width wave do not meet the requirements; Step 7: If the motor does not hit any micro switch during operation, compare the phase of each operation. If the motor phase corresponding to each position is always consistent, it means that the speed S1 and the duty cycle Tn of the modulation width wave meet the requirements. Step 8, repeating steps 5 to 7 for speeds S2 to Sn to select available speeds; Step 9, select the speed Sx that best matches the duty cycle in step 8, hit the first micro switch N times with different duty cycles, record the returned phase sequence α and the phase sequence β when hitting the micro switch, if the returned phase sequence α and phase sequence β are consistent each time, it means that the first micro switch is in a good position; Step 10: If the phase sequence returned each time is inconsistent, fine-tune the position of the first micro switch and fix it, and repeat step 9 until a state in which the phase sequence is consistent is found, and record the position P1 of the first micro switch; Step 11: Repeat steps 8 and 9 for the second micro switch, and record the position P2 of the micro switch.

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