A control system and device applied to a space optical scanning mechanism

Abstract

The application discloses a control system and device applied to a space optical scanning mechanism, relates to the load control field of a space vehicle, and comprises a permanent magnet synchronous motor, a Hall element, a position acquisition unit, a three-phase bridge circuit, a reverse fuse FPGA control unit and a DSP control unit. The permanent magnet synchronous motor drives a load mechanism to operate. The Hall element acquires motor phase current data of the permanent magnet synchronous motor. The position acquisition unit acquires motor position data of the permanent magnet synchronous motor. The DSP control unit obtains motor three-phase duty ratio data according to the motor phase current data, the motor position data and target position data inputted from outside. The reverse fuse FPGA control unit generates a PWM wave according to the motor three-phase duty ratio data. The three-phase bridge circuit controls the operation of the permanent magnet synchronous motor according to the PWM wave, and further controls the operation of the load mechanism. Compared with the existing stepping motor, the position control precision is improved, and the precision requirement of an executing mechanism in the space vehicle is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of load control of space vehicles, in particular to a control system and device applied to a space optical scanning mechanism. BACKGROUND

[0002] In space vehicle applications, due to the harsh working environment, in order to ensure the stability of the equipment, the existing scheme generally uses a stepping motor with simple control mode as an actuator to drive the load to run. The stepping motor can move a fixed size of step angle distance for each received pulse signal. If the driver is controlled through subdivision, the position control resolution of the motor can be improved. For example, the step angle of a two-phase stepping motor is 1.8 degrees, and the position control resolution can reach 0.9 degrees through 2 subdivision control. The existing high-subdivision micro-step stepping motor driver can achieve 128 subdivisions, i.e. the position control resolution can reach 0.014 degrees. In addition, in order to obtain high position resolution, a reducer can also be added to the actuator. Since the stepping motor has a simple control mode and does not involve complex control algorithms, a controller such as FPGA (Field Programmable Gate Array) or space-grade single-chip microcomputer can be used to write a control program to drive the stepping motor to run.

[0003] However, in space applications such as weather satellites, as the functions become more complex, higher precision of position control is required, even reaching the order of 0.001 degrees, and the position control of the stepping motor is difficult to meet such high-precision requirements. Adding a reducer can improve the position control resolution, but the reducer design is complex, and there will be certain cumulative errors due to mechanical transmission. In the process of variable speed movement of the actuator, the variable speed curve may not match the motor, causing stalling or out-of-step, which reduces the control accuracy. In addition, due to the existence of the transmission mechanism, the motor has large power consumption, which affects the on-orbit service life. SUMMARY

[0004] The purpose of the present application is to provide a control system and device applied to a space optical scanning mechanism, which can meet the precision requirements of the actuator in space vehicles, and improve the position control precision compared with the existing stepping motor.

[0005] To achieve the above purpose, the present application provides the following solutions:

[0006] A control system applied to a space optical scanning mechanism, the control system is connected with a load mechanism of the space optical scanning mechanism, and the control system is used to control the load mechanism to run according to target position data; the control system comprises:

[0007] a permanent magnet synchronous motor connected with the load mechanism and used to control the load mechanism to run.

[0008] a Hall element connected with the permanent magnet synchronous motor, configured to collect motor phase current of the permanent magnet synchronous motor to obtain motor phase current data;

[0009] a position collection unit connected with the permanent magnet synchronous motor, configured to collect angle of the permanent magnet synchronous motor to obtain motor position data;

[0010] a three-phase bridge circuit connected with the permanent magnet synchronous motor;

[0011] a anti-fuse FPGA control unit connected with the Hall element, the position collection unit and the three-phase bridge circuit, configured to receive the target position data, and collect the motor phase current data and the motor position data;

[0012] a DSP control unit connected with the anti-fuse FPGA control unit, configured to generate motor three-phase duty cycle data according to the motor phase current data, the motor position data and the target position data;

[0013] the anti-fuse FPGA control unit is further configured to generate PWM wave according to the motor three-phase duty cycle data; and the three-phase bridge circuit is further configured to control operation of the permanent magnet synchronous motor according to the PWM wave to control operation of the load mechanism.

[0014] Optionally, the anti-fuse FPGA control unit comprises:

[0015] a current collection module connected with the Hall element, configured to collect the motor phase current data;

[0016] an angle collection module connected with the position collection unit, configured to collect the motor position data;

[0017] an instruction receiving module configured to receive the target position data;

[0018] a first transmission module connected with the current collection module, the angle collection module, the instruction receiving module, the DSP control unit and the three-phase bridge circuit, configured to transmit the motor phase current data, the motor position data and the target position data to the DSP control unit, and receive the motor three-phase duty cycle data from the DSP control unit;

[0019] a PWM generation module connected with the first transmission module, configured to generate PWM wave according to the motor three-phase duty cycle data; and the three-phase bridge circuit receives the PWM wave through the first transmission module.

[0020] Optionally, the position collection unit comprises:

[0021] The excitation circuit is connected with the rotary transformer of the permanent magnet synchronous motor, and is used for sending an excitation signal to the rotary transformer, and the rotary transformer generates an induction signal through feedback;

[0022] The rotary transformer conditioning module is connected with the rotary transformer, and is used for collecting an angle according to the induction signal to obtain the motor position data.

[0023] Optionally, the DSP control unit generates motor three-phase duty cycle data according to the motor phase current data, the motor position data and the target position data, and specifically includes:

[0024] According to the target position data, an S-shaped given position curve is obtained;

[0025] According to the motor position data and the S-shaped given position curve, a speed correction value is obtained;

[0026] According to the motor position data, a motor current speed value is obtained;

[0027] According to the speed correction value and the motor current speed value, a q-axis current correction value is obtained;

[0028] According to the motor phase current data and the q-axis current correction value, d-axis and q-axis voltages are obtained;

[0029] According to the d-axis and q-axis voltages, the motor three-phase duty cycle data is obtained.

[0030] Optionally, according to the motor position data and the S-shaped given position curve, a speed correction value is obtained, and specifically includes:

[0031] According to the motor position data and the S-shaped given position curve, a position error is obtained;

[0032] It is judged whether the position error is less than a set value;

[0033] If yes, the position error is used for proportional plus integral control to obtain the speed correction value;

[0034] If no, the position error is used for proportional plus feedforward control to obtain the speed correction value.

[0035] Optionally, according to the d-axis and q-axis voltages, the motor three-phase duty cycle data is obtained, and specifically includes:

[0036] The d-axis and q-axis voltages are subjected to over-modulation prevention processing to obtain current d-axis and q-axis voltages;

[0037] According to the current d-axis and q-axis voltages, the motor three-phase duty cycle data is obtained through inverse park transformation and space voltage vector calculation.

[0038] Optionally, the d, q axis voltage is subjected to an anti-overshoot processing to obtain a current d, q axis voltage, specifically comprising:

[0039] determining whether a modulus value of the d, q axis voltage is greater than a preset value;

[0040] if yes, dividing the preset value by the modulus value to obtain a proportion value, and calculating a product of the proportion value and the d, q axis voltage to obtain the current d, q axis voltage;

[0041] if no, the d, q axis voltage is the current d, q axis voltage.

[0042] Optionally, the DSP control unit comprises:

[0043] a second transmission module connected with the anti-fuse FPGA control unit, configured to receive the motor phase current data, motor position data and target position data;

[0044] an S-shaped curve generation module connected with the second transmission module, configured to obtain an S-shaped given position curve according to the target position data;

[0045] a position loop controller connected with the second transmission module and the S-shaped curve generation module, configured to obtain a speed correction value according to the motor position data and the S-shaped given position curve;

[0046] a speed observer connected with the second transmission module, configured to obtain a motor current speed value according to the motor position data;

[0047] a speed loop PI controller connected with the position loop controller and the speed observer, configured to obtain a q-axis current correction value according to the speed correction value and the motor current speed value;

[0048] a current loop PI controller connected with the second transmission module and the speed loop PI controller, configured to obtain the d, q axis voltage according to the motor phase current data and the q-axis current correction value;

[0049] a voltage vector calculation module connected with the current loop PI controller and the second transmission module, configured to obtain the motor three-phase duty cycle data according to the d, q axis voltage, and transmit the motor three-phase duty cycle data to the anti-fuse FPGA control unit through the second transmission module.

[0050] Optionally, the position loop controller obtains the speed correction value according to the motor position data and the S-shaped given position curve, specifically comprising:

[0051] obtaining a position error according to the motor position data and the S-shaped given position curve;

[0052] determining whether the position error is less than a set value;

[0053] if yes, obtaining the speed correction value according to the position error by proportional plus integral control;

[0054] if no, obtaining the speed correction value according to the position error by proportional plus feedforward control.

[0055] To achieve the above object, the application further provides the following scheme:

[0056] A control device applied to a spatial optical scanning mechanism, the control device comprising two sets of control systems applied to the spatial optical scanning mechanism, and the two sets of control systems are designed by hot backup redundancy, one set as a main system and the other set as a backup system; the control device further comprises a first relay switch and a second relay switch;

[0057] The position acquisition unit in the main system and the position acquisition unit in the backup system are connected with the permanent magnet synchronous motor through the first relay switch;

[0058] The three-phase bridge circuit in the main system and the three-phase bridge circuit in the backup system are connected with the permanent magnet synchronous motor through the second relay switch;

[0059] When receiving the main control signal sent by the upper computer, the first relay switch controls the position acquisition unit of the main system to be connected with the permanent magnet synchronous motor and the position acquisition unit of the backup system to be disconnected with the permanent magnet synchronous motor; the second relay switch controls the three-phase bridge circuit of the main system to be connected with the permanent magnet synchronous motor and the three-phase bridge circuit of the backup system to be disconnected with the permanent magnet synchronous motor;

[0060] When receiving the backup control signal sent by the upper computer, the first relay switch controls the position acquisition unit of the main system to be disconnected with the permanent magnet synchronous motor and the position acquisition unit of the backup system to be connected with the permanent magnet synchronous motor; the second relay switch controls the three-phase bridge circuit of the main system to be disconnected with the permanent magnet synchronous motor and the three-phase bridge circuit of the backup system to be connected with the permanent magnet synchronous motor.

[0061] According to the specific embodiments of the application, the following technical effects are achieved:

[0062] The application is applied to a control system of a space optical scanning mechanism, a permanent magnet synchronous motor drives a load mechanism to run, a Hall element collects motor phase current data of the permanent magnet synchronous motor, a position collection unit obtains motor position data of the permanent magnet synchronous motor, a DSP control unit obtains motor three-phase duty cycle data according to the motor phase current data, the motor position data and target position data inputted from outside, a reverse fuse FPGA control unit generates a PWM wave according to the motor three-phase duty cycle data, and a three-phase bridge circuit controls the running of the permanent magnet synchronous motor according to the PWM wave, thereby controlling the running of the load mechanism; compared with the existing stepper motor, the control system provided by the application improves the precision of position control and meets the precision requirement of an execution mechanism in a space vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0064] Figure 1 It is a module structure schematic diagram of the control system of the space optical scanning mechanism applied by the present application.

[0065] Figure 2 It is a permanent magnet synchronous motor control algorithm flowchart.

[0066] Figure 3 It is a position loop controller working flowchart.

[0067] Figure 4 It is a module structure schematic diagram of the reverse fuse FPGA unit.

[0068] Figure 5 It is a module structure schematic diagram of the control device of the space optical scanning mechanism applied by the present application.

[0069] Figure 6 It is an actual angle precision control effect schematic diagram.

[0070] Figure 7 It is a large angle running control effect schematic diagram.

[0071] Figure 8 It is an actual speed stability control effect schematic diagram.

[0072] Symbol explanation:

[0073] Load mechanism-01, permanent magnet synchronous motor-1, Hall element-2, position acquisition unit-3, excitation circuit-31, resolver conditioning module-32, three-phase bridge circuit-4, anti-fuse FPGA control unit-5, current acquisition module-51, angle acquisition module-52, instruction receiving module-53, first transmission module-54, PWM generation module-55, DSP control unit-6, second transmission module-61, S-type curve generation module-62, position loop controller-63, speed observer-64, speed loop PI controller-65, current loop PI controller-66, voltage vector calculation module-67. DETAILED DESCRIPTION

[0074] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0075] The purpose of the present application is to provide a control system and device applied to a spatial optical scanning mechanism, which meets the precision requirements of the actuator in a space vehicle and improves the precision of position control compared with the existing stepper motor.

[0076] In order to make the above-mentioned purposes, characteristics and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0077] As shown in Figure 1 The control system applied to the spatial optical scanning mechanism of the present application is connected with a load mechanism 01 in the spatial optical scanning mechanism, and is used for controlling the load mechanism 01 to operate according to target position data. The control system comprises a permanent magnet synchronous motor 1, a Hall element 2, a position acquisition unit 3, a three-phase bridge circuit 4, an anti-fuse FPGA control unit 5 and a DSP control unit 6.

[0078] The permanent magnet synchronous motor 1 is connected with the load mechanism 01. The permanent magnet synchronous motor 1 is used for controlling the load mechanism 01 to operate.

[0079] The Hall element 2 is connected with the permanent magnet synchronous motor 1. The Hall element 2 is used for acquiring motor phase current of the permanent magnet synchronous motor 1 to obtain motor phase current data.

[0080] The position acquisition unit 3 is connected with the permanent magnet synchronous motor 1. The position acquisition unit 3 is used for performing angle acquisition on the permanent magnet synchronous motor 1 to obtain motor position data.

[0081] The three-phase bridge circuit 4 is connected with the permanent magnet synchronous motor 1.

[0082] The anti-fuse FPGA control unit 5 is connected with the Hall element 2, the position acquisition unit 3 and the three-phase bridge circuit 4. The anti-fuse FPGA control unit 5 is used for receiving the target position data and acquiring the motor phase current data and the motor position data.

[0083] The DSP control unit 6 is connected with the anti-fuse FPGA control unit 5. The DSP control unit 6 is used for generating motor three-phase duty cycle data according to the motor phase current data, the motor position data and the target position data.

[0084] The anti-fuse FPGA control unit 5 is also used for generating a PWM wave according to the motor three-phase duty cycle data. The three-phase bridge circuit 4 is also used for controlling the operation of the permanent magnet synchronous motor 1 according to the PWM wave, so as to control the operation of the load mechanism 01.

[0085] Specifically, the Hall element 2 acquires the motor phase current of the permanent magnet synchronous motor 1 and generates 16-bit motor phase current data. The position acquisition unit 3 decodes the motor resolver signal and generates 21-bit motor angle data, and then obtains the motor position data.

[0086] Preferably, the DSP (Digital Signal Processing) control unit 6 is an SMJ320C6701 controller. The SMJ320C6701 controller is a kind of space-grade DSP controller, which has the characteristics of high radiation resistance and wide temperature range.

[0087] The application is applied to the control system of a space optical scanning mechanism. By controlling the permanent magnet synchronous motor 1, the space optical scanning mechanism is driven to move, so that the position control precision of the load mechanism 01 movement is less than 3 arc seconds, the speed control stability reaches 0.03%, and the motor operation power consumption is less than 2W. The existing high-precision stepping motor has an operation precision of 30 arc seconds or higher, and the power consumption is usually 4-6W. Compared with the control performance of the stepping motor, the control performance of the control system provided by the application is obviously improved, and the control system is more suitable for application in the field of limited resources such as space vehicles.

[0088] Specifically, the position acquisition unit 3 comprises an excitation circuit 31 and a resolver conditioning module 32.

[0089] The excitation circuit 31 is connected with the resolver of the permanent magnet synchronous motor 1. The excitation circuit 31 is used for sending an excitation signal to the resolver, and the resolver generates an induction signal through feedback.

[0090] The resolver conditioning module 32 is connected with the resolver. The resolver conditioning module 32 is used for angle acquisition according to the induction signal to obtain the motor position data.

[0091] Further, the anti-fuse FPGA control unit 5 comprises a current acquisition module 51, an angle acquisition module 52, an instruction receiving module 53, a first transmission module 54, and a PWM generation module 55.

[0092] The current acquisition module 51 is connected with the Hall element 2. The current acquisition module 51 is used for acquiring the motor phase current data.

[0093] The angle acquisition module 52 is connected with the position acquisition unit 3. The angle acquisition module 52 is used for acquiring the motor position data.

[0094] The instruction receiving module 53 is used for receiving the target position data.

[0095] The first transmission module 54 is connected with the current acquisition module 51, the angle acquisition module 52, the instruction receiving module 53, the DSP control unit 6, and the three-phase bridge circuit 4. The first transmission module 54 is used for transmitting the motor phase current data, the motor position data, and the target position data to the DSP control unit 6, and receiving the motor three-phase duty cycle data from the DSP control unit 6.

[0096] The PWM generation module 55 is connected with the first transmission module 54. The PWM generation module 55 is used for generating a PWM wave according to the motor three-phase duty cycle data. The three-phase bridge circuit 4 receives the PWM wave through the first transmission module 54.

[0097] The PWM (Pulse Width Modulation) wave output by the PWM generation module 55 controls the turn-on and turn-off of the three-phase bridge arms in the three-phase bridge circuit 4, thereby generating three-phase alternating current and applying the three-phase alternating current to the three-phase windings of the permanent magnet synchronous motor 1, and finally driving the permanent magnet synchronous motor 1 to run.

[0098] Further, the instruction receiving module 53 is connected with the upper computer. The instruction receiving module 53 is used for receiving the target position data sent from the upper computer.

[0099] Optionally, the anti-fuse FPGA control unit 5 further comprises an input module. The input module is connected with the instruction receiving module 53. The input module is used for receiving the target position data input externally.

[0100] Optionally, the instruction receiving module 53 comprises a storage submodule. The storage submodule is used for storing the target position data.

[0101] In particular, the DSP control unit 6 generates motor three-phase duty ratio data according to the motor phase current data, motor position data and target position data, including:

[0102] Step S01: obtaining an S-shaped given position curve according to the target position data.

[0103] Step S02: obtaining a speed correction value according to the motor position data and the S-shaped given position curve.

[0104] Step S03: obtaining a motor current speed value according to the motor position data.

[0105] Step S04: obtaining a q-axis current correction value according to the speed correction value and the motor current speed value.

[0106] Step S05: obtaining d-axis and q-axis voltages according to the motor phase current data and the q-axis current correction value.

[0107] Step S06: obtaining the motor three-phase duty ratio data according to the d-axis and q-axis voltages.

[0108] Further, the DSP control unit 6 includes a second transmission module 61, an S-shaped curve generation module 62, a position loop controller 63, a speed observer 64, a speed loop PI controller 65, a current loop PI controller 66 and a voltage vector calculation module 67.

[0109] The second transmission module 61 is connected with the anti-fuse FPGA control unit 5. The second transmission module 61 is used to receive the motor phase current data, motor position data and target position data.

[0110] The S-shaped curve generation module 62 is connected with the second transmission module 61. The S-shaped curve generation module 62 is used to obtain an S-shaped given position curve according to the target position data.

[0111] The position loop controller 63 is connected with the second transmission module 61 and the S-shaped curve generation module 62. The position loop controller 63 is used to obtain a speed correction value according to the motor position data and the S-shaped given position curve.

[0112] The speed observer 64 is connected with the second transmission module 61. The speed observer 64 is used to obtain a motor current speed value according to the motor position data.

[0113] The speed loop PI controller 65 is connected with the position loop controller 63 and the speed observer 64. The speed loop PI controller 65 is used to obtain a q-axis current correction value according to the speed correction value and the motor current speed value.

[0114] The current loop PI controller 66 is connected to the second transmission module 61 and the speed loop PI controller 65. The current loop PI controller 66 is used to obtain the d-axis and q-axis voltages based on the motor phase current data and the q-axis current correction value.

[0115] The voltage vector calculation module 67 is connected to the current loop PI controller 66 and the second transmission module 61. The voltage vector calculation module 67 is used to obtain the three-phase duty cycle data of the motor based on the d-axis and q-axis voltages, and transmit the three-phase duty cycle data of the motor to the antifuse FPGA control unit 5 through the second transmission module 61.

[0116] Specifically, both the first transmission module 54 and the second transmission module 61 are provided with EMIF interfaces; the first transmission module 54 and the second transmission module 61 transmit data through the EMIF interfaces.

[0117] In a typical position servo control system, the target position is used as the given position of the position loop controller 63. If the target position differs greatly from the actual position of the motor, a large integral will be generated during the motor rotation process. This will cause the motor to continue rotating after reaching the target position, resulting in a large position overshoot. In many applications, a large position overshoot is not allowed. At the same time, due to position correction, the speed will also fluctuate drastically, affecting the control performance of the motor.

[0118] like Figure 2 As shown, in the control system provided by the present invention, an S-shaped given position curve is generated by the S-shaped curve generation module 62 based on the target position data, thereby determining the current given position; the actual position of the motor is determined by the motor position data.

[0119] Furthermore, when determining a given position using an S-shaped curve, during the acceleration phase of the curve, the velocity of the curve and the given position at the current moment are calculated using positive acceleration; during the deceleration phase of the curve, the velocity of the curve and the given position at the current moment are calculated using negative acceleration.

[0120] Furthermore, the position loop controller 63 is used to calculate the difference between the current given position and the actual position of the motor to obtain the position error, and then the speed correction value is obtained based on the position error.

[0121] Specifically, such as Figure 3 As shown, based on the motor position data and the S-shaped given position curve, the speed correction value is obtained, including:

[0122] The position error is obtained based on the motor position data and the S-shaped given position curve.

[0123] determining whether the position error is less than a set value.

[0124] If yes, a proportional plus integral control is adopted according to the position error to obtain the speed correction value.

[0125] If no, a proportional plus feedforward control is adopted according to the position error to obtain the speed correction value.

[0126] In the initial stage of control, the position loop controller 63 performs proportional plus feedforward control to quickly track the target position; in the final stage of control, the position loop controller 63 performs proportional plus integral control to eliminate the position error, and because the integral time is short, the overshoot can be effectively reduced.

[0127] Through the speed observer 64, the motor angle value is collected every fixed interval time, and the difference between the current and the last collected angle is calculated, and multiplied by the time coefficient to obtain the current speed value of the motor.

[0128] Further, through the speed loop PI controller 65, the difference between the speed correction value and the current speed value is calculated to obtain the speed error, and then the q-axis current correction value is obtained according to the speed difference.

[0129] The current loop PI controller 66 obtains the d-axis and q-axis voltages according to the motor phase current data and the q-axis current correction value; wherein the d-axis current correction value is 0.

[0130] The voltage vector calculation module 67 calculates the motor three-phase duty ratio data according to the d-axis and q-axis voltages.

[0131] The anti-fuse FPGA control unit 5 generates a PWM wave according to the motor three-phase duty ratio data.

[0132] Specifically, the voltage vector calculation module 67 obtains the motor three-phase duty ratio data according to the d-axis and q-axis voltages, including:

[0133] The d-axis and q-axis voltages are subjected to overmodulation prevention processing to obtain the current d-axis and q-axis voltages. Specifically, it includes:

[0134] Determining whether the modulus value of the d-axis and q-axis voltages is greater than a preset value.

[0135] If yes, the preset value is divided by the modulus value to obtain a proportional value, and the product of the proportional value and the d-axis and q-axis voltages is calculated to obtain the current d-axis and q-axis voltages.

[0136] If no, the d-axis and q-axis voltages are the current d-axis and q-axis voltages.

[0137] According to the current d-axis and q-axis voltages, the motor three-phase duty ratio data is obtained through anti-park transformation and space voltage vector calculation.

[0138] Preferably, the preset value is 0.866.

[0139] In addition, as shown in Figure 4 , Figure 5 The application further provides a control device applied to a spatial optical scanning mechanism, the control device comprising two sets of the control system applied to the spatial optical scanning mechanism, and the two sets of control systems are designed by hot backup redundancy, one set as a main system and the other set as a backup system; the control device further comprises a first relay switch and a second relay switch.

[0140] The position acquisition unit in the main system and the position acquisition unit in the backup system are connected with the permanent magnet synchronous motor through the first relay switch.

[0141] The three-phase bridge circuit in the main system and the three-phase bridge circuit in the backup system are connected with the permanent magnet synchronous motor through the second relay switch.

[0142] When receiving the main control signal sent by the upper computer, the first relay switch controls the position acquisition unit of the main system to be connected with the permanent magnet synchronous motor and the position acquisition unit of the backup system to be disconnected with the permanent magnet synchronous motor; the second relay switch controls the three-phase bridge circuit of the main system to be connected with the permanent magnet synchronous motor and the three-phase bridge circuit of the backup system to be disconnected with the permanent magnet synchronous motor.

[0143] When receiving the backup control signal sent by the upper computer, the first relay switch controls the position acquisition unit of the main system to be disconnected with the permanent magnet synchronous motor and the position acquisition unit of the backup system to be connected with the permanent magnet synchronous motor; the second relay switch controls the three-phase bridge circuit of the main system to be disconnected with the permanent magnet synchronous motor and the three-phase bridge circuit of the backup system to be connected with the permanent magnet synchronous motor.

[0144] Through the hot backup redundancy design, the two sets of control systems run simultaneously in normal work, but the output work is only undertaken by one of the systems. By preparing two sets of systems, the backup system can be quickly switched to take charge of the output work after the current system fails.

[0145] Further, as shown in Figure 6 , Figure 7 , Figure 8 The motor control effect obtained in the actual application of the control system and device applied to the spatial optical scanning mechanism.

[0146] Among them, Figure 6In order to control the control precision of the motor at the target position by the control system, the control target position is 104.408 degrees, the actual motor position is 104.4073-104.4085 degrees, and the position control precision is ±2 arc seconds.

[0147] Figure 7 In order to control the control effect of the control system for controlling the motor to rotate at a large angle, the motor rotates by 50 degrees in the figure, the motor rotates smoothly at the start and stop stages, and does not produce overshoot, and the motor rotates quickly to the target position at the middle stage of rotation.

[0148] Figure 8 In order to control the control effect of the control system for controlling the motor to rotate at a set speed, the motor rotates one circle, and the rotation time of the motor in the circle is measured, the total measured number of circles is 1500, and the theoretical rotation time of each circle is 979.112 ms. As can be seen from the figure, the maximum rotation speed deviation of the motor is 0.016%.

[0149] As can be seen from the above, compared with the stepping motor commonly used in the field of space vehicles, the control system and device provided by the application have better control performance than the stepping motor, and are more suitable for space vehicle fields such as meteorological satellite imaging applications.

[0150] In the field of space vehicles, the application provides a high-precision control platform of SMJ320C6701 controller matching anti-fuse FPGA, which can execute complex control algorithms; a position, speed and current three-closed-loop control system is adopted, a control algorithm is designed, and a permanent magnet synchronous motor is driven by a vector control method to drive a load mechanism. Compared with the commonly used stepping motor, additional speed reduction mechanisms are not necessary, the position control precision of the space optical scanning mechanism reaches 0.0008 degrees, the speed control stability is better than 0.03%, and the system power consumption is effectively reduced.

[0151] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to each other. For the system disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the related parts can be referred to the method part.

[0152] In this paper, specific examples are used to describe the principles and implementation modes of the application. The above embodiment description is only used to help understand the method and core idea of the application. For those skilled in the art, according to the idea of the application, the specific implementation mode and application range can be changed. In summary, the content of the specification should not be understood as a limitation of the application.

Claims

1. A control system for a spatial optical scanning mechanism, characterized in that The control system is connected with a load mechanism of a spatial optical scanning mechanism, and the control system is used for controlling the load mechanism to operate according to target position data; The control system comprises: A permanent magnet synchronous motor connected with the load mechanism and used for controlling the load mechanism to operate; A Hall element connected with the permanent magnet synchronous motor and used for collecting motor phase current of the permanent magnet synchronous motor to obtain motor phase current data; A position acquisition unit connected with the permanent magnet synchronous motor and used for collecting an angle of the permanent magnet synchronous motor to obtain motor position data; A three-phase bridge circuit connected with the permanent magnet synchronous motor; An anti-fuse FPGA control unit connected with the Hall element, the position acquisition unit and the three-phase bridge circuit, and used for receiving the target position data and collecting the motor phase current data and the motor position data; A DSP control unit connected with the anti-fuse FPGA control unit and used for generating motor three-phase duty cycle data according to the motor phase current data, the motor position data and the target position data, specifically comprising: obtaining an S-shaped given position curve according to the target position data; obtaining a speed correction value according to the motor position data and the S-shaped given position curve, specifically comprising: obtaining a position error according to the motor position data and the S-shaped given position curve; judging whether the position error is less than a set value; if yes, obtaining the speed correction value according to the position error by using proportional plus integral control; if no, obtaining the speed correction value according to the position error by using proportional plus feedforward control; in an initial stage of control, a position loop controller executes proportional plus feedforward control; and in a final stage of control, the position loop controller executes proportional plus integral control; obtaining a motor current speed value according to the motor position data, specifically comprising: collecting a motor angle value every fixed interval of time through a speed observer, and calculating a difference between the current and the last collected angle and multiplying the difference by a time coefficient to obtain the motor current speed value; obtaining a q-axis current correction value according to the speed correction value and the motor current speed value; obtaining d-axis and q-axis voltages according to the motor phase current data and the q-axis current correction value; obtaining the motor three-phase duty cycle data according to the d-axis and q-axis voltages, specifically comprising: performing over-modulation prevention processing on the d-axis and q-axis voltages to obtain current d-axis and q-axis voltages; and obtaining the motor three-phase duty cycle data through inverse park transformation and spatial voltage vector calculation according to the current d-axis and q-axis voltages; The anti-fuse FPGA control unit is further used for generating a PWM wave according to the motor three-phase duty cycle data; and the three-phase bridge circuit is further used for controlling operation of the permanent magnet synchronous motor according to the PWM wave to control operation of the load mechanism.

2. The control system for a spatial optical scanning mechanism according to claim 1, wherein The anti-fuse FPGA control unit comprises: a current acquisition module connected with the Hall element and used for collecting the motor phase current data; an angle acquisition module connected with the position acquisition unit and used for collecting the motor position data; an instruction receiving module used for receiving the target position data; The first transmission module is connected with the current acquisition module, the angle acquisition module, the instruction receiving module, the DSP control unit and the three-phase bridge circuit, and is configured to transmit the motor phase current data, the motor position data and the target position data to the DSP control unit, and receive the motor three-phase duty cycle data from the DSP control unit. The PWM generation module is connected with the first transmission module, and is configured to generate a PWM wave according to the motor three-phase duty cycle data; and the three-phase bridge circuit receives the PWM wave through the first transmission module.

3. The control system for a spatial optical scanning mechanism according to claim 1, wherein The position acquisition unit comprises: The excitation circuit is connected with the rotary transformer of the permanent magnet synchronous motor, and is configured to send an excitation signal to the rotary transformer, and the rotary transformer generates an induction signal through feedback; The resolver conditioning module is connected with the rotary transformer, and is configured to acquire an angle according to the induction signal to obtain the motor position data.

4. The control system for a spatial optical scanning mechanism according to claim 1, wherein The d-axis voltage and the q-axis voltage are subjected to over-modulation prevention processing to obtain current d-axis voltage and current q-axis voltage, and the processing specifically comprises: determining whether the modulus of the d-axis voltage and the q-axis voltage is greater than a preset value; if yes, dividing the preset value by the modulus to obtain a proportion value, and calculating the product of the proportion value and the d-axis voltage and the q-axis voltage to obtain the current d-axis voltage and the current q-axis voltage; if no, the d-axis voltage and the q-axis voltage are the current d-axis voltage and the current q-axis voltage.

5. The control system for a spatial optical scanning mechanism according to claim 1, wherein The DSP control unit comprises: The second transmission module is connected with the anti-fuse FPGA control unit, and is configured to receive the motor phase current data, the motor position data and the target position data; The S-shaped curve generation module is connected with the second transmission module, and is configured to obtain an S-shaped given position curve according to the target position data; The position loop controller is connected with the second transmission module and the S-shaped curve generation module, and is configured to obtain a speed correction value according to the motor position data and the S-shaped given position curve; The speed observer is connected with the second transmission module, and is configured to obtain a current motor speed value according to the motor position data; The speed loop PI controller is connected with the position loop controller and the speed observer, and is configured to obtain a q-axis current correction value according to the speed correction value and the current motor speed value; The current loop PI controller is connected with the second transmission module and the speed loop PI controller, and is configured to obtain the d-axis voltage and the q-axis voltage according to the motor phase current data and the q-axis current correction value; The voltage vector calculation module is connected with the current loop PI controller and the second transmission module, and is configured to obtain the motor three-phase duty cycle data according to the d-axis voltage and the q-axis voltage, and transmit the motor three-phase duty cycle data to the anti-fuse FPGA control unit through the second transmission module.

6. The control system for a spatial optical scanning mechanism according to claim 5, wherein The position loop controller obtains a speed correction value according to the motor position data and the S-shaped given position curve, and the obtaining specifically comprises: obtaining a position error according to the motor position data and the S-shaped given position curve; determining whether the position error is less than a set value; if yes, adopting proportional plus integral control according to the position error to obtain the speed correction value; if no, adopting proportional plus feedforward control according to the position error to obtain the speed correction value.

7. A control device for a spatial optical scanning mechanism, characterized in that The control device comprises two sets of control systems applied to the spatial optical scanning mechanism according to any one of claims 1-6, and the two sets of control systems are designed by hot backup redundancy, one set as a main system and the other set as a backup system; the control device further comprises a first relay switch and a second relay switch; The position acquisition unit in the main system and the position acquisition unit in the backup system are connected with the permanent magnet synchronous motor through the first relay switch; The three-phase bridge circuit in the main system and the three-phase bridge circuit in the backup system are connected with the permanent magnet synchronous motor through the second relay switch; When receiving the main control signal sent by the upper computer, the first relay switch controls the position acquisition unit of the main system to be connected with the permanent magnet synchronous motor and controls the position acquisition unit of the backup system to be disconnected with the permanent magnet synchronous motor; the second relay switch controls the three-phase bridge circuit of the main system to be connected with the permanent magnet synchronous motor and controls the three-phase bridge circuit of the backup system to be disconnected with the permanent magnet synchronous motor; When receiving the backup control signal sent by the upper computer, the first relay switch controls the position acquisition unit of the main system to be disconnected with the permanent magnet synchronous motor and controls the position acquisition unit of the backup system to be connected with the permanent magnet synchronous motor; the second relay switch controls the three-phase bridge circuit of the main system to be disconnected with the permanent magnet synchronous motor and controls the three-phase bridge circuit of the backup system to be connected with the permanent magnet synchronous motor.

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