Solar array and interrupt method, solar array drive circuit, device and system

Abstract

The application provides a SADE single board and an interrupt method. The single board comprises: an MCU module, a communication interface of which is connected with a star computer through an RS422 interface circuit; a PWM generation module, connected with the MCU module and connected with two-phase stepping motor windings in a SAMA, used for generating two real-time modulated complementary PWM signals to drive A-phase windings and B-phase windings of the two-phase stepping motor according to two mutually perpendicular sine signals SIN and cosine signals COS generated by the MCU module. The method comprises: SADE entering an interrupt working mode, including communication interrupt, AD interrupt, capture interrupt, PWM interrupt and default mode. Meanwhile, a solar panel driving circuit comprising two SADE single boards is provided, a driving device SADA comprising SADE and SADM, and a system comprising SADA and a single-axis solar panel. Real-time modulation driving of a single-axis SADA two-phase stepping motor is realized, and the system has a master-slave switching function, realizes speed tracking, fast capture of a specified position, reset to a zero position and other control modes.

Description

Technical Field

[0001] This application pertains to aerospace technology and relates to solar panel drive devices, particularly to an SADE board and interruption method, solar panel drive circuitry, device, and system. Background Technology

[0002] The Solar Array Drive Assembly (SADA) is a crucial component of a spacecraft's power system, responsible for the solar panels' orientation to the sun and energy transfer. SADA comprises two functional parts: the Solar Array Drive Machinery (SADM) and the Solar Array Drive Electro-circuit (SADE).

[0003] SADA (Self-Driving Automation) systems can use stepper motors as the drive source, typically including four-phase and two-phase stepper motors. Stepper motors, as the controlled object in SADA, offer advantages such as high positioning accuracy, no cumulative error, ease of open-loop control, and low cost. The stepper motor is a vacuum dual-winding low-speed torque motor with a maximum operating speed of 16.7 rpm, a minimum operating speed of 0.167 rpm, an operating current of 160 mA, and a pull-in torque of 115 mNm and a pull-out torque of 115 mNm. Commonly used vacuum stepper motor manufacturers and models include the British AML series, the Suzhou Hangyu Jiutian HY series, and the vacuum dual-winding stepper motor from the 21st Research Institute of China Electronics Technology Group Corporation.

[0004] SADE (Standardized Advanced Device Controller) requires performance indicators such as radiation resistance, low power consumption, small size, and light weight, and commercial aerospace SADE is cost-sensitive. Furthermore, because SAADA (Standardized Advanced Device Controller) operates in the space environment, characterized by vacuum, extreme temperatures, and radiation, and is difficult to maintain on-orbit, its stability and reliability requirements are high. While ground-based equipment typically operates in vacuum and extreme temperature environments, it is easier to maintain and replace components on the ground. Therefore, the vacuum stepper motors used in ground-based equipment do not require backup winding design. Moreover, their drive systems typically operate at room temperature and atmospheric pressure, using high- and low-temperature resistant cables and vacuum plugs to connect to the controlled object in the vacuum environment. The drive system design does not need to consider the environmental effects of vacuum discharge, non-metallic material outgassing, total dose radiation, and heavy ion radiation. This type of design is unsuitable for the space environment.

[0005] In general-purpose stepper motor drive systems, either full-step or microstepping drive is used, and temperature and overcurrent protection functions are designed. However, their algorithms are not suitable for the requirements of aerospace SADA products. Furthermore, SADA requires the acquisition of various temperature data to monitor operating temperature conditions. SADE not only requires stable drive but also needs to simultaneously acquire zero-position information in microstepping drive and multiple operating modes for use in sun orientation operations. Ground-based equipment using photoelectric encoders, circular gratings, and other angle measurement devices is not suitable for design requirements such as low cost, small size, low weight, and resistance to vibration and shock during launch. Summary of the Invention

[0006] Based on the above background, this application provides an SADE board and an interruption method, as well as a solar panel drive circuit, a solar panel drive device, and a single-axis solar panel system. This enables real-time modulation and drive of the two-phase stepper motor for a single-axis SADA system, and real-time acquisition and monitoring of position information, A-phase and B-phase winding current, temperature data, etc. The primary SADE and backup SADE drive the primary and backup windings of the stepper motor respectively, with a cold backup function. This provides a primary / backup switching function to improve stability. Furthermore, the interruption method enables SADA control modes such as speed tracking, rapid acquisition of a specified position, reset to zero position, and current position holding.

[0007] To achieve the above objectives, the present invention employs the following techniques:

[0008] A SADE single board includes:

[0009] The MCU module's communication interface is connected to the space station computer via an RS422 interface circuit;

[0010] The PWM generation module is connected to the MCU module and the two-phase stepper motor windings in the SAMA. It is used to generate two real-time modulated complementary PWM signals to drive the A-phase and B-phase windings of the two-phase stepper motor based on the two mutually perpendicular sine signals SIN and cosine signals COS generated by the MCU module.

[0011] The capture interface of the MCU module is connected to the switch Hall sensor in the SADM through the Hall signal conditioning circuit. The switch Hall sensor is used as a measuring device for the rotational angular position of the two-phase stepper motor after passing through the reducer. After detecting one revolution of the reducer, it outputs a pulse signal. The Hall signal conditioning circuit processes the pulse signal and outputs an angular position pulse signal. The MCU module is used to acquire the edge of the angular position pulse signal through the capture interface to calculate the zero position information of SADA.

[0012] The SPI interface of the MCU module is connected to the solar panel temperature sensor, SADM shaft temperature sensor, SADM shell temperature sensor, and motor temperature sensor located on the solar panel, through an extended ADC. It is used to receive the analog signals collected by each sensor, calculate the solar panel temperature, SADM shaft temperature, SADM shell temperature, and motor temperature information, and transmit the temperature information to the spacecraft computer through the communication interface and RS422 interface circuit.

[0013] The PWM generation module includes a triangular wave generator and two PWM signal generation units. The PWM signal generation unit includes a PI controller, an AD circuit and interface, a subtractor, and a comparison output module.

[0014] The output of the triangular wave generator is connected to one input of the comparison output module of the two PWM signal generation units;

[0015] In one PWM signal generation unit, the subtractor input is connected to the sine wave output port (SIN) of the MCU module and the AD circuit and interface, respectively. Its output is connected to the PI controller input. The PI controller output is connected to the other input of the comparator output module. The comparator output module output is connected to the A-phase gate driver and the bridge power amplifier circuit. The AD circuit and interface are connected to the A-phase winding current sampling circuit. The A-phase gate driver and the bridge power amplifier circuit are connected to the A+ and A- windings of the two-phase stepper motor and grounded through a current resistor R1. The sampling terminal of the A-phase winding current sampling circuit is connected in parallel to the current resistor R1. The two ends of R1 are used to collect the A-phase winding current. The AD circuit and interface are used to obtain the A-phase winding current collected by the A-phase winding current sampling circuit, and output it as the A-phase current feedback signal Current_A to the subtractor. The subtractor is used to output the difference between the sine signal SIN and Current_A as a proportional-integral (PI) signal to the PI controller. After the PI controller performs PI adjustment, the comparison output module compares the PI controller output value with the output signal of the triangular wave generator to generate and output PWM signal 1. The A-phase gate drive and bridge power amplifier circuit amplify PWM signal 1 to drive the A-phase winding.

[0016] In another PWM signal generation unit, the subtractor input is connected to the cosine signal output port of the MCU module and the AD circuit and interface, respectively. Its output is connected to the PI controller input. The PI controller output is connected to another input of the comparator output module. The comparator output module output is connected to the B-phase gate driver and bridge power amplifier circuit. Its AD circuit and interface are connected to the B-phase winding current sampling circuit. The B-phase gate driver and bridge power amplifier circuit are connected to the B+ and B- windings of the two-phase stepper motor and grounded through current resistor R2. The acquisition terminal of the B-phase winding current sampling circuit is connected in parallel to current resistor R. 2. The two ends are used to collect the B-phase winding current. The AD circuit and interface are used to obtain the B-phase winding current collected by the B-phase winding current sampling circuit, and output it as the B-phase current feedback signal Current_B to the subtractor. The subtractor is used to output the difference between the sine signal COS and Current_B as a proportional-integral (PI) signal to the PI controller. After the PI controller performs PI adjustment, the comparison output module compares the PI controller output value with the output signal of the triangular wave generator to generate and output PWM signal 2. The B-phase gate drive and bridge power amplifier circuit amplify the PWM signal 2 to drive the B-phase winding.

[0017] An interrupt method for an SADE board includes the following steps: After the SADE board is powered on, it initializes and then enters an interrupt working mode, including communication interrupt, AD interrupt, capture interrupt, PWM interrupt and default mode.

[0018] When the SADE board responds to the communication interruption request, it receives the instructions from the space computer, exits the communication interruption routine, and updates the communication interruption register.

[0019] When the SADE board responds to the AD interrupt request, the SADE board obtains the stepper motor current information, including the A-phase current feedback signal Current_A, the B-phase current feedback signal Current_B, and the current limiting setting, and then exits the AD interrupt program and updates the AD interrupt register.

[0020] When the SADE board responds to the capture interrupt request, it obtains the zero position information of the stepper motor, exits the capture interrupt routine, and updates the capture interrupt register.

[0021] When the SADE board responds to a PWM interrupt request, it reads the communication / AD / capture interrupt register, updates the control variables to control the stepper motor movement, then exits the PWM interrupt, and finally ends the current cycle control to continue responding to the next PWM interrupt request. The control variables include operating mode, position information, speed information, polarity information, two-phase current feedback signal, motor temperature information, and zero position information, etc.

[0022] When the SADE board is in default mode, it sends temperature information to the spacecraft computer and then ends the current cycle.

[0023] A solar panel drive circuit includes two SADE boards, one as a primary SADE and the other as a backup SADE. The primary SADE is used to drive the primary winding of a two-phase stepper motor in the SAMA, and the backup SADE is used to drive the backup winding of a two-phase stepper motor in the SAMA. Both the primary SADE and the backup SADE are connected to a primary power supply and a spacecraft computer. The spacecraft computer is used to control the primary power supply to supply power to the primary SADE or the backup SADE.

[0024] A solar panel drive device includes a solar panel drive circuit and a SADM. The SADM includes a two-phase stepper motor and a reducer. The two-phase stepper motor has a main winding and a backup winding. The solar panel drive circuit is connected to the two-phase stepper motor. The two-phase stepper motor is connected to the reducer. The reducer is connected to a single-axis solar panel.

[0025] A single-axis solar panel system includes a solar panel drive unit and a single-axis solar panel connected to the drive unit.

[0026] The beneficial effects of this invention are as follows:

[0027] 1. The single-axis SADA uses a vacuum dual-winding stepper motor as the drive source. SADE has a microstepping function and multiple working modes, which can achieve rapid sun orientation and has advantages such as high reliability, high positioning accuracy and no cumulative error.

[0028] 2. In the present invention, SADE adopts a design concept of two sets of drive circuits, namely primary and backup. The corresponding controlled object stepper motor adopts a design of primary coil and backup coil. That is, the SADE primary circuit drives the primary coil of the stepper motor, and the SADE backup circuit drives the backup coil of the stepper motor. The two systems do not work simultaneously in cold backup. The stability and reliability of SADA can be improved by switching between primary and backup.

[0029] 3. In general stepper motor drive systems, full-step drive or microstepping drive is used, and temperature protection and overcurrent protection functions are designed. However, their algorithms are not suitable for the requirements of aerospace SADA products. In addition to proposing a microstepping drive circuit and algorithm based on sine and cosine signals, and over-temperature protection and overcurrent protection, this invention proposes working mode algorithms such as speed tracking mode, fast acquisition mode, reset mode, and hold mode. By real-time modulation of the two-phase stepper motor, single-axis SADA microstepping drive, polarity change, position acquisition, speed change, reset to zero, and position hold working modes can be realized. Real-time acquisition of zero position information, two-phase winding current, five types of temperature data, etc., is carried out and transmitted to the spacecraft computer through the communication interface, which can realize on-orbit monitoring of SADE and SADM operation status.

[0030] 4. Ground-based equipment using photoelectric encoders, circular gratings, and other angle measurement devices is not suitable for design requirements such as low cost, small size, low weight, and resistance to vibration and shock during launch. In this invention, zero-position information is provided by the main and backup angle position sensors of the stepper motor. Aerospace-grade Hall effect sensors are selected as components, and a Hall effect signal conditioning circuit is designed to process the pulse signal edges and transmit them to the processor to calculate zero-position information such as zero-position position and zero-position width. The system operates stably and can meet the requirements of SADE to simultaneously collect zero-position information in microstepping drive and multiple working modes for use in sun orientation operations. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the solar panel drive device and single-axis SADA system according to an embodiment of this application.

[0032] Figure 2 This is a schematic diagram of the solar panel drive circuit according to an embodiment of this application.

[0033] Figure 3 This is a block diagram of the SADE single-board structure according to an embodiment of this application.

[0034] Figure 4 This is a flowchart of the SADE program according to an embodiment of this application.

[0035] Figure 5 This is a flowchart illustrating the communication interruption process in an embodiment of this application.

[0036] Figure 6 This is an AD interrupt flowchart of an embodiment of this application.

[0037] Figure 7 This is a flowchart of the interception process according to an embodiment of this application.

[0038] Figure 8 This is a flowchart of the PWM interrupt main process according to an embodiment of this application.

[0039] Figure 9 This is a flowchart of over-temperature and over-current protection and temperature monitoring in the PWM interrupt of this application embodiment.

[0040] Figure 10 This is a flowchart of the working mode program in the PWM interrupt of this application embodiment.

[0041] Figure 11 This is a current waveform diagram of online speed change information according to an embodiment of this application.

[0042] Figure 12 This is a waveform diagram of the current with changed polarity information according to an embodiment of this application. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the implementation methods of the present invention will be described in detail below with reference to the accompanying drawings. However, the embodiments described in this invention are only some embodiments of the present invention, and not all embodiments.

[0044] This application provides an SADE board for use in SADA (Super ADA System) to drive SADM (Super ADA System), such as... Figure 3 As shown, the SADE board includes an MCU module, a PWM generator module, a secondary power supply module, and a surge protection circuit.

[0045] Specifically, the MCU module includes the MCU and its associated circuitry, as well as related interfaces. The MCU can be a 32-bit floating-point DSP chip or a 32-bit floating-point ARM processor.

[0046] The surge protection circuit's input terminal is connected to an external primary power supply, and its output terminal is connected to the input terminal of a secondary power supply module. The secondary power supply module is used to power the SADE board after the external primary power supply is input and the power is converted and output by the surge protection circuit.

[0047] The MCU module's communication interface is connected to the spacecraft computer via an RS422 interface circuit; the PWM generation module is connected to the MCU module and to the two-phase stepper motor windings in the SAMA. It is used to generate two real-time modulated complementary PWM signals to drive the A-phase and B-phase windings of the two-phase stepper motor based on the two mutually perpendicular sine signals SIN and cosine signals COS generated by the MCU module.

[0048] The MCU module's capture interface is connected to the switch Hall sensor in the SADM via a Hall signal conditioning circuit. Specifically, the switch Hall sensor is used as a measuring device for the angular position of the two-phase stepper motor after passing through the reducer. After detecting one revolution of the reducer, it outputs a pulse signal. The Hall signal conditioning circuit processes the pulse signal and outputs an angular position pulse signal. The MCU module acquires the edge of the angular position pulse signal through the capture interface to calculate the zero-position information of the SADA, including the SADA zero position ZP and zero width ZW.

[0049] The MCU module's SPI interface connects to the SADE temperature sensor located on the SADE board, the solar panel temperature sensor located on the solar panel, the SADM shaft temperature sensor located in the SADM, the SADM shell temperature sensor, and the motor temperature sensor via an extended ADC. This interface receives analog signals from each sensor and calculates the SADE temperature T. SADE、 Solar panel temperature T solar SADM shaft temperature T SADM2 SADM shell temperature T SADM1 Motor temperature T motor The information is transmitted to the spaceborne computer via a communication interface and an RS422 interface circuit. Specifically, the extended ADC can be an ADC digital-to-analog converter.

[0050] Specifically, such as Figure 3 As shown, the PWM generation module includes a triangular wave generator and two PWM signal generation units. One PWM signal generation unit includes a PI controller 1, an AD circuit and interface 1, a subtractor 1, and a comparison output module 1. The other PWM signal generation unit includes a PI controller 2, an AD circuit and interface 2, a subtractor 2, and a comparison output module 2.

[0051] In one PWM signal generation unit, the two inputs of subtractor 1 are connected to the sine wave output port (SIN) of the MCU module and the AD circuit and interface 1, respectively. Its output is connected to the input of PI controller 1. The output of PI controller 1 is connected to one input of the comparator output module. The output of the triangular wave generator is connected to the other input of the comparator output module 1. The output of the comparator output module 1 is connected to the A-phase gate driver and bridge power amplifier circuit. The AD circuit and interface 1 are connected to the A-phase winding current sampling circuit. The A-phase gate driver and bridge power amplifier circuit are connected to the A+ and A- windings of the two-phase stepper motor and grounded through current resistor R1. The A-phase winding current sampling circuit... The acquisition terminal of the circuit is connected in parallel across the current resistor R1 to acquire the A-phase winding current. The AD circuit and interface 1 are used to acquire the A-phase winding current acquired by the A-phase winding current sampling circuit and output it as the A-phase current feedback signal Current_A to the subtractor. The subtractor 1 is used to output the difference between the sine signal SIN and Current_A as a proportional-integral (PI) signal to the PI controller 1. After the PI controller 1 performs PI adjustment, the comparison output module 1 compares the output value of the PI controller 1 with the output signal of the triangular wave generator to generate and output the PWM signal 1. The A-phase gate drive and bridge power amplifier circuit amplify the PWM signal 1 and drive the A-phase winding.

[0052] In another PWM signal generation unit, the two inputs of subtractor 2 are connected to the cosine signal output port of the MCU module and the AD circuit and interface 2, respectively. Its output is connected to the input of PI controller 2. The output of PI controller 2 is connected to one input of comparator output module 2, and the output of the triangular wave generator is connected to the other input of comparator output module 2. The output of comparator output module 2 is connected to the B-phase gate driver and bridge power amplifier circuit. The AD circuit and interface 2 are connected to the B-phase winding current sampling circuit. The B-phase gate driver and bridge power amplifier circuit are connected to the B+ and B- windings of the two-phase stepper motor and grounded through current resistor R2. The B-phase winding current sampling circuit... The acquisition terminal of the circuit is connected in parallel across the current resistor R2 to acquire the B-phase winding current. The AD circuit and interface are used to obtain the B-phase winding current acquired by the B-phase winding current sampling circuit, and output it as the B-phase current feedback signal Current_B to the subtractor. The subtractor 2 is used to output the difference between the sinusoidal signal COS and Current_B as a proportional-integral (PI) signal to the PI controller 2. After the PI controller 2 performs PI adjustment, the comparison output module 2 compares the output value of the PI controller 2 with the output signal of the triangular wave generator to generate and output the PWM signal 2. The B-phase gate drive and bridge power amplifier circuit amplify the PWM signal 2 to drive the B-phase winding.

[0053] Specifically, the SADE board in this example also has some other functions, such as:

[0054] A reset circuit is provided, which is connected to the MCU chip. This reset circuit, in conjunction with the MCU software, can realize reset functions such as automatic power-on reset, watchdog reset, program exception interrupt reset, program runaway reset, and manual reset.

[0055] An enable circuit is provided, which is connected to the GPIO1 pin of the MCU chip to enable or disable the output of the SADE board. When the GPIO1 pin is set to a logic high level, the output is disabled, and when the logic low level is set, the output is enabled. The default is low level active.

[0056] A sleep mode is provided, which is implemented through the GPIO2 pin of the MCU chip. When the GPIO2 pin is set to a logic high level, the SADE board works; when the logic low level is set, it enters a low-power sleep mode. The default is the low-level sleep mode.

[0057] It features microstepping settings, implemented via the GPIO3 / 4 / 5 pins of the MCU chip. The step angle can be set from 1.8º to 0.225º. For example, the GPIO3 / 4 / 5 level can be set to high / high / low, and the microstepping factor can be fixed at 8 times, thus reducing the step angle of the two-phase stepper motor from 1.8º to 0.225º.

[0058] It features a current decay mode, implemented via MCU's GPIO6, used to set the freewheeling mode of the stepper motor windings. The default setting is to use the non-conducting phase freewheeling diode for freewheeling, i.e., the current decays rapidly.

[0059] It has a current limiting setting, and the analog voltage output is connected to the AD circuit and interface 3 of the MCU chip through the voltage divider of the adjustable resistor. The MCU chip limits the amplitude of the current based on the detected analog voltage.

[0060] It has a fault indication, which is output by the OD gate of the MCU chip. The default state is high impedance. When the SADE board malfunctions and overheats or the stepper motor winding has overcurrent, the fault indication is low level.

[0061] It also has a ground detection signal, which is output through the detection point of the MCU chip to detect the amplitude of the secondary power supply output voltage, and the detection point is isolated by a diode.

[0062] Another aspect of this application provides an interruption method for an SADE board, based on the circuit structure description of the SADE board in the above examples, and referring to... Figure 4 The program flowchart shown has the following steps: After the SADE board is powered on, the SADE is initialized and then enters the interrupt working mode, including communication interrupt, AD interrupt, capture interrupt, PWM interrupt and default mode.

[0063] When the SADE board responds to a communication interruption request, it receives the instruction from the spaceborne computer, exits the communication interruption routine, and updates the communication interruption register. Specifically, when the SADE board responds to a communication interruption request, the program enters the communication interruption entry point. The communication interruption flowchart is as follows: Figure 5 As shown, first, the MCU module clears the communication interrupt flag, which will be set again when the next communication interrupt request occurs. Then, the SADE board receives the operating mode, speed, position, and polarity information from the spacecraft computer and stores them in the communication data register; by default, the SADE board sends four channels of temperature information to the spacecraft computer. Finally, the SADE board returns from the communication interrupt, ending the communication interrupt routine and continuing to respond to the next communication interrupt request.

[0064] When the SADE board responds to an AD interrupt request, it acquires the stepper motor current information, including the A-phase current feedback signal Current_A, the B-phase current feedback signal Current_B, and the current limiting setting. Then, it exits the AD interrupt routine and updates the AD interrupt register. Specifically, upon responding to an AD interrupt request, the program enters the AD interrupt entry point. The AD interrupt flowchart is shown below. Figure 6 As shown, first, the MCU module clears the AD interrupt flag, which will be set again when the next AD interrupt request occurs. Then, the MCU module converts Current_A and stores it in AD data register 1, converts Current_B and stores it in AD data register 2, and converts the current limiting setting and stores it in AD data register 3. Finally, the SADE board's AD interrupt returns, ending the AD interrupt routine and continuing to respond to the next AD interrupt request.

[0065] When the SADE board responds to a capture interrupt request, it acquires the stepper motor's zero-position information, exits the capture interrupt routine, and updates the capture interrupt register. Specifically, upon responding to a capture interrupt request, the program enters the capture interrupt entry point. The capture interrupt flowchart is as follows: Figure 7 As shown, firstly, the MCU module clears the capture interrupt flag, which will be set when the next capture interrupt request occurs. Then, the MCU module's capture port captures two edges of the pulse signal. Using the MCU module's timer, the timer counter value between the two edges is calculated, thus determining the zero-bit width ZW. The zero-bit position ZP is located at half the zero-bit width. Finally, the SADE board's capture interrupt returns, ending the capture interrupt routine and continuing to respond to the next capture interrupt request.

[0066] When the SADE board is in default mode, it sends temperature information to the spacecraft computer and then ends the current cycle.

[0067] When the SADE board responds to a PWM interrupt request, it reads the communication / AD / capture interrupt register, updates the control variables to control the stepper motor's movement, and includes operating mode, position information, speed information, polarity information, two-phase current feedback signal, motor temperature information, and zero-position information. Then, it exits the PWM interrupt, ends the current cycle control, and continues responding to the next PWM interrupt request. For details, refer to [link / reference]. Figures 8-10 The PWM interrupt flowchart shown below:

[0068] First, the MCU module clears the capture interrupt flag, which will be set when the next PWM interrupt request occurs.

[0069] Then, the SADE board enters standby mode, speed tracking mode, fast capture mode, reset mode, or default mode according to the instructions of the spacecraft computer.

[0070] After initialization, the SADE board initially operates in standby mode, remaining stationary. The speed of SADM... ω When the value is 0, the current amplitude of the two-phase winding of the stepper motor is a predetermined multiple (usually 0.5 times) of the rated current amplitude. It waits for the satellite computer to send a working mode command to enter the working mode. The SADE board reads the communication / AD / capture interrupt register and updates the control variables to control the movement of the stepper motor.

[0071] The spaceborne computer sends commands to SADE via a communication interface, specifying operating mode, position information, velocity information, and polarity information. Operating modes include velocity tracking mode, fast acquisition mode, reset mode, or default mode. Position information is in angle. θ ∈[-180º, 180º]; speed information is velocity. ω ∈[0.01º / s, 1º / s]; polarity information is a marker. dir =1 positive, dir =0 negative; current feedback signals are Current_A and current_B; stepper motor temperature information is T. motor The zero-position information is the zero-position width ZW.

[0072] Then it enters the temperature monitoring, and the over-temperature and over-current protection process, such as... Figure 9 As shown:

[0073] The temperatures detected by each temperature sensor include the SADE temperature T. SADE Motor temperature T motor SADM shell temperature T SADM1 SADM shaft temperature T SADM2 and solar panel temperature T solarThere are a total of 5 temperature data points. The temperature sensor signals are connected to the extended ADC, which in turn is connected to the MCU via the SPI communication interface.

[0074] In temperature monitoring, the MCU module monitors and compares T SADM1 T SADM2 and T solar Temperature signals confirm whether the solar panels on both sides are operating in the sunlit or shadowed areas, which is used by the satellite's computer to run the overall satellite processing algorithm. When T SADM1 T SADM2 The amplitude is greater than the alarm threshold of 90°C, or T solar When the amplitude exceeds the alarm threshold of 150℃, the SADE board outputs an over-limit monitoring temperature indication signal; otherwise, the SADE board outputs a normal monitoring temperature indication signal and uploads it to the spacecraft computer via the communication interface, and the PWM interrupt returns.

[0075] The overcurrent protection system detects the stepper motor winding current, including sampling the A-phase winding current and the B-phase winding current. The A-phase winding current sample is transmitted to the MCU's AD circuit and interface 1 as the A-phase current control feedback value, and compared with the current limit of 192mA, serving as the basis for overcurrent protection. The B-phase winding current sample is transmitted to the MCU's AD circuit and interface 2 as the B-phase current control feedback value, and compared with the current limit of 192mA, also serving as the basis for overcurrent protection.

[0076] Over-temperature protection detection: when the SADE temperature T SADE and motor temperature T motor When the temperature exceeds the protection threshold of 110℃ or the motor winding current exceeds the current limit of 192mA, the SADE board outputs a fault indication signal, uploads it to the spacecraft computer, the PWM interrupt returns, and the motor drive ends, thus realizing SADA over-temperature protection or over-current protection. When the motor temperature T... motor When the temperature exceeds the protection threshold of 110℃ (false) and the motor winding current exceeds the current limit of 192mA (false), the SADE board outputs normal temperature and current indication signals, and the board enters the working mode selection.

[0077] like Figure 10 As shown, in speed tracking mode: the MCU module acquires and updates speed information and polarity information, speed information ω ∈[0.01º / s, 1º / s], polarity information is a marker dir =1 positive, dir =0 negative direction; if dir =0 is true, the SADE board performs negative speed tracking, if dir =0 indicates a false value, and the SADE board performs positive speed tracking; the MCU module then uses the speed information... ωThe speed clock frequency is calculated and is directly proportional to the motor speed, and is related to the motor step angle and microstepping factor. Except for the standby mode where the current amplitude is halved, the current amplitude is the same in all other operating modes. Based on the speed clock frequency and rated current amplitude, the MCU module looks up a table to obtain two-phase equal-amplitude, same-frequency, orthogonal current signals, which are used as the given current signals for the two-phase windings of the stepper motor, along with polarity information. dir The phase relationship of the orthogonal current signals is determined to control the polarity of the SADM, and a sine signal SIN and a cosine signal COS are output. The PWM generation module, based on the sine signal SIN, the cosine signal COS, and the A-phase current feedback signal Current_A and the B-phase current feedback signal Current_B, derives the real-time PWM duty cycle of PWM signal 1 and PWM signal 2, enabling the motor to follow the set polarity and the set tracking speed. ω Rotation; when setting the tracking speed ω When =0 is false, the SADE board continues in response speed tracking mode; when the tracking speed is set... ω When =0 is true, the SADE board automatically enters hold mode and responds to the working mode selection.

[0078] In fast capture mode: the MCU module acquires and updates position and velocity information. ω and polarity information dir Location information is angle θ If ∈[-180º,180º], dir =0 is true, the SADE board performs negative fast capture, if dir =0 indicates false, and the SADE board performs forward fast acquisition; the MCU module then uses the fast acquisition position information... θ Calculate the number of speed clock strings Step_Cap required for capture, based on the speed information. ω The speed clock string frequency is calculated. The number of speed clock strings (Step_Cap) is directly proportional to the motor rotation angle, and the speed clock string frequency is directly proportional to the motor speed. These two control variables are related to the motor step angle and microstepping factor. Based on the speed clock string frequency value and the rated current amplitude, the MCU module looks up a table to obtain two-phase equal-amplitude, same-frequency, orthogonal current signals, which are used as the given current signals for the two-phase windings of the stepper motor, along with polarity information. dir The phase relationship of the orthogonal current signals is determined to control the polarity of the SADM, and a sine signal SIN and a cosine signal COS are output. The PWM generation module, based on the sine signal SIN, the cosine signal COS, and the A-phase current feedback signal Current_A and the B-phase current feedback signal Current_B, derives the real-time PWM duty cycle of PWM signal 1 and PWM signal 2, causing the motor to rotate according to the set polarity and set speed. The number of speed clock strings, Step_Cap, decreases until it reaches zero. When the set position has been captured... θ When the value is false, the SADE board continues to respond in fast capture mode; when the set position has been captured... θ When true, the SADE board automatically enters hold mode and responds to the operating mode selection.

[0079] In reset mode: The MCU module acquires and updates zero-position information and speed information. ω and polarity information dir The zero-position information includes the zero-position width ZW. dir =0 is true, the SADE board performs a negative reset. dir =0 indicates a false value, and the SADE board performs a positive reset; the MCU then uses the speed information... ω The speed clock frequency is calculated and is directly proportional to the motor speed, and is related to the motor step angle and microstepping factor. The MCU calculates the number of speed clock strings (Step_Zero) based on the zero-width (ZW). Based on the speed clock frequency and rated current amplitude, the MCU module looks up a table to obtain two-phase orthogonal current signals with equal amplitude and frequency, which are used as the given current signals for the two-phase windings of the stepper motor, along with polarity information. dir The phase relationship of the orthogonal current signals is determined to control the polarity of the SADM, outputting a sine signal SIN and a cosine signal COS. The PWM generation module, based on the sine signal SIN, the cosine signal COS, and the A-phase current feedback signal Current_A and the B-phase current feedback signal Current_B, derives the real-time PWM duty cycle of PWM signal 1 and PWM signal 2, causing the motor to reset according to the set polarity and speed. When the MCU module detects the zero-position signal edge, it continues to output a pulse train of the same polarity, with the number of pulse trains being 0.5 times Step_Zero, causing the SADM to continue its reset operation to the zero position ZP, which is located at the midpoint of the zero-position width ZW. When reaching the zero position ZP is false, the SADE board continues to respond to the reset mode; when reaching the zero position ZP is true, the SADE board completes a positive or negative reset. At this time, the SADE position information... θ Resets to zero and automatically enters hold mode, responding to other operating mode selections.

[0080] In the default mode, the SADE board continues to respond to the previous working mode. If the working mode is completed, it automatically enters the hold mode until it responds to a new working mode.

[0081] Finally, the PWM interrupt returns, ending the PWM interrupt routine and continuing to respond to the next PWM interrupt request.

[0082] It should be noted that in speed tracking mode, the tracking speed information can be changed online. ω Changing the SADM speed alters the polarity information. dirThe SADE board must be set to hold mode first to reduce the SADM speed to zero before changing the polarity. This prevents the SADM from suddenly changing polarity, which could cause the large inertia solar panel load to reverse and damage the motor and reducer. When changing the operating mode before the current mode is complete, the SADE board must also be set to hold mode first.

[0083] Another aspect of this application provides a solar panel drive circuit, such as... Figure 2 As shown, the system includes the SADE board described in the previous embodiment, with one serving as the primary SADE and the other as the backup SADE. The primary SADE drives the primary winding of the two-phase stepper motor in the SAMA, while the backup SADE drives the backup winding of the two-phase stepper motor in the SAMA. Both the primary and backup SADEs are connected to the primary power supply and the satellite computer. The satellite computer controls the primary power supply to supply power to either the primary or backup SADE, meaning it supplies power to only one set of lines, thus achieving cold backup of the primary and backup SADEs. Normally, the primary SADE is in operating mode, while the backup SADE is in cold backup mode. When the primary SADE malfunctions, the satellite computer cuts off the power to the primary SADE, putting it in cold backup mode, and then supplies power to the backup SADE, putting it into operating mode.

[0084] In another aspect of the embodiments of this application, a solar panel drive device, namely SADA, is provided, such as Figure 1 As shown, it includes the solar panel drive circuitry and SADM described in the previous embodiment. The solar panel drive circuitry is used to drive the SADM. Figure 1 In the diagram, the solar panel drive circuit is shown as SADE. SADM includes a two-phase stepper motor and a reducer. The two-phase stepper motor has a main winding and a backup winding. The solar panel drive circuit connects to the two-phase stepper motor, which is connected to the reducer. The reducer is connected to the single-axis solar panel.

[0085] In application, if the microstepping is set to 8x, both the given current and the feedback current have 8 steps, indicating normal microstepping. The waveforms of the A-phase winding sine signal / given current SIN and the B-phase winding cosine signal / given current COS, as well as the feedback currents Current_A and Current_B of the A-phase winding and the B-phase winding are shown below. Figure 11 As shown, at 0.8 seconds, the stepper motor speed was changed online from 1.875 rpm to 3.75 rpm. In this example, before and after the online speed change, the stepper motor feedback current could track the given current normally in terms of amplitude, frequency, and phase relationship, and the 8x microstepping function worked normally.

[0086] If the microstepping is set to 16, both the given current and the feedback current have 16 steps, indicating normal microstepping. 0.8 seconds ago, phase A led phase B. Between 0.8 and 1 second, the SADA was set to hold mode and the SADA polarity information was changed. dir After 1 second, phase B leads phase A, and the current waveform is as follows: Figure 12 As shown in the example, this method drives a stepper motor to change its polarity information, correctly achieving forward and reverse rotation, and the 16x microstepping function works normally.

[0087] In another aspect of the embodiments of this application, a single-axis solar panel system is provided, such as... Figure 1 As shown, it includes the solar panel drive device described in the previous embodiment and a single-axis solar panel connected to the drive device.

[0088] The above description is only a preferred embodiment of this application and is not intended to limit this application. Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application.

Claims

1. A SADE single-board, characterized in that, include: The MCU module's communication interface is connected to the space station computer via an RS422 interface circuit; The PWM generation module is connected to the MCU module and the two-phase stepper motor windings in the SAMA. It is used to generate two real-time modulated complementary PWM signals to drive the A-phase windings and B-phase windings of the two-phase stepper motor based on the two mutually perpendicular sine signals SIN and cosine signals COS generated by the MCU module. The MCU module's capture interface is connected to the switch Hall sensor in the SADM via a Hall signal conditioning circuit. The switch Hall sensor is used as a measuring device for the rotational angular position of the two-phase stepper motor after passing through the reducer. After detecting one revolution of the reducer, it outputs a pulse signal. The Hall signal conditioning circuit processes the pulse signal and outputs an angular position pulse signal. The MCU module acquires the edge of the angular position pulse signal through the capture interface to calculate the zero position information of the SADA. The MCU module's SPI interface connects to the solar panel temperature sensor located on the solar panel, the SADM shaft temperature sensor located in the SADM, the SADM shell temperature sensor, and the motor temperature sensor via an extended ADC. This interface receives analog signals from each sensor and calculates the solar panel temperature T. solar SADM shaft temperature T SADM2 SADM shell temperature T SADM1 Motor temperature T motor It transmits temperature information to the spacecraft computer via a communication interface and an RS422 interface circuit. The PWM generation module includes a triangular wave generator and two PWM signal generation units. The PWM signal generation unit includes a PI controller, an AD circuit and interface, a subtractor, and a comparison output module. The output of the triangular wave generator is connected to one input of the comparison output module of the two PWM signal generation units; In one PWM signal generation unit, the subtractor input is connected to the sine wave output port (SIN) of the MCU module and the AD circuit and interface, respectively. Its output is connected to the PI controller input. The PI controller output is connected to the other input of the comparator output module. The comparator output module output is connected to the A-phase gate driver and the bridge power amplifier circuit. The AD circuit and interface are connected to the A-phase winding current sampling circuit. The A-phase gate driver and the bridge power amplifier circuit are connected to the A+ and A- windings of the two-phase stepper motor and grounded through a current resistor R1. The sampling terminal of the A-phase winding current sampling circuit is connected in parallel to the current resistor R1. The two ends of R1 are used to collect the A-phase winding current. The AD circuit and interface are used to obtain the A-phase winding current collected by the A-phase winding current sampling circuit, and output it as the A-phase current feedback signal Curent_A to the subtractor. The subtractor is used to output the difference between the sine signal SIN and Curent_A as a proportional-integral (PI) signal to the PI controller. After the PI controller performs PI adjustment, the comparison output module compares the PI controller output value with the output signal of the triangular wave generator to generate and output PWM signal 1. The A-phase gate drive and bridge power amplifier circuit amplify PWM signal 1 to drive the A-phase winding. In another PWM signal generation unit, the subtractor input is connected to the cosine signal output port of the MCU module and the AD circuit and interface, respectively. Its output is connected to the PI controller input. The PI controller output is connected to another input of the comparator output module. The comparator output module output is connected to the B-phase gate driver and bridge power amplifier circuit. Its AD circuit and interface are connected to the B-phase winding current sampling circuit. The B-phase gate driver and bridge power amplifier circuit are connected to the B+ and B- windings of the two-phase stepper motor and grounded through current resistor R2. The acquisition terminal of the B-phase winding current sampling circuit is connected in parallel to current resistor R.

2. The two ends are used to collect the B-phase winding current. The AD circuit and interface are used to obtain the B-phase winding current collected by the B-phase winding current sampling circuit, and output it as the B-phase current feedback signal Curent_B to the subtractor. The subtractor is used to output the difference between the sine signal COS and Curent_B as a proportional-integral (PI) signal to the PI controller. After the PI controller performs PI adjustment, the comparison output module compares the PI controller output value with the output signal of the triangular wave generator to generate and output PWM signal 2. The B-phase gate drive and bridge power amplifier circuit amplify the PWM signal 2 to drive the B-phase winding.

2. The SADE single board according to claim 1, characterized in that, It also includes a secondary power supply module, which is connected to an external primary power supply and is used to convert the power input from the external primary power supply to power the SADE board.

3. An interruption method for an SADE board as described in claim 1, characterized in that, The steps include: After the SADE board is powered on, it initializes and then enters the interrupt working mode, including communication interrupt, AD interrupt, capture interrupt, PWM interrupt and default mode; When the SADE board responds to the communication interruption request, it receives the instructions from the space computer, exits the communication interruption routine, and updates the communication interruption register. When the SADE board responds to the AD interrupt request, the SADE board obtains the stepper motor current information, including the A-phase current feedback signal Current_A, the B-phase current feedback signal Current_B, and the current limiting setting, and then exits the AD interrupt program and updates the AD interrupt register. When the SADE board responds to the capture interrupt request, it obtains the zero position information of the stepper motor, exits the capture interrupt routine, and updates the capture interrupt register. When the SADE board responds to the PWM interrupt request, it reads the communication / AD / capture interrupt register, updates the control variables to control the stepper motor movement, then exits the PWM interrupt, and finally ends the current cycle control to continue responding to the next PWM interrupt request. When the SADE board is in default mode, it sends temperature information to the spacecraft computer and then ends the current cycle.

4. The interruption method according to claim 3, characterized in that, When the SADE board responds to the PWM interrupt request, the program enters the PWM interrupt entry point: First, the MCU module clears the capture interrupt flag, which will be set when the next PWM interrupt request occurs. Then, after initialization, the SADE board's first operating mode is standby mode, remaining stationary. The speed of SADM... ω When the value is 0, the current amplitude of the two-phase winding of the stepper motor is a predetermined multiple of the rated current amplitude. It waits for the satellite computer to send a working mode command to enter the working mode. The SADE board reads the communication / AD / capture interrupt register, updates the control variables to control the movement of the stepper motor. The working modes include speed tracking mode, fast capture mode, reset mode or default mode. In speed tracking mode: The MCU module acquires and updates speed and polarity information. ω ∈[0.01º / s, 1º / s], polarity information is a marker dir =1 positive, dir =0 negative direction; like dir =0 is true, the SADE board performs negative speed tracking, if dir =0 indicates a false value, and the SADE board performs positive speed tracking; the MCU module then uses the speed information... ω The speed clock frequency is calculated, and it is directly proportional to the motor speed. The MCU module looks up a table to obtain two-phase, equal-amplitude, same-frequency, orthogonal current signals, which are used as the given current signals for the two-phase windings of the stepper motor, along with their polarity information. dir The phase relationship of the orthogonal current signals is determined to control the polarity of the SADM, and a sine signal SIN and a cosine signal COS are output. The PWM generation module, based on the sine signal SIN, the cosine signal COS, and the A-phase current feedback signal Curent_A and the B-phase current feedback signal Curent_B, derives the real-time PWM duty cycle of PWM signal 1 and PWM signal 2, enabling the motor to follow the set polarity and the set tracking speed. ω Rotation; when setting the tracking speed ω When =0 is false, the SADE board continues in response speed tracking mode; when the tracking speed is set... ω When =0 is true, the SADE board automatically enters hold mode and responds to the working mode selection. In fast capture mode: The MCU module acquires and updates position and speed information. ω and polarity information dir Location information is angle θ If ∈[-180º,180º], dir =0 is true, the SADE board performs negative fast capture, if dir =0 indicates false, and the SADE board performs forward fast acquisition; the MCU module then uses the fast acquisition position information... θ Calculate the number of speed clock strings Step_Cap required for capture, based on the speed information. ω The speed clock frequency is calculated, and the number of speed clock strings (Step_Cap) is directly proportional to the motor rotation angle. The speed clock frequency is directly proportional to the motor speed. The MCU module looks up a table to obtain two-phase, equal-amplitude, same-frequency, orthogonal current signals, which are used as the given current signals for the two-phase windings of the stepper motor, along with polarity information. dir The phase relationship of the orthogonal current signals is determined to control the polarity of the SADM, and a sine signal SIN and a cosine signal COS are output. The PWM generation module, based on the sine signal SIN, the cosine signal COS, and the A-phase current feedback signal Curent_A and the B-phase current feedback signal Curent_B, derives the real-time PWM duty cycle of PWM signal 1 and PWM signal 2, causing the motor to rotate according to the set polarity and set speed. The number of speed clock strings, Step_Cap, decreases until it reaches zero. When the set position has been captured... θ When the value is false, the SADE board continues to respond in fast capture mode; when the set position has been captured... θ When true, the SADE board automatically enters hold mode and responds to the operating mode selection; In reset mode: The MCU module acquires and updates zero-position information and speed information. ω and polarity information dir The zero-position information includes the zero-position width ZW. dir =0 is true, the SADE board performs a negative reset. dir =0 indicates a false value, and the SADE board performs a positive reset; the MCU then uses the speed information... ω The speed clock frequency is calculated, and the speed clock frequency is directly proportional to the motor speed. The MCU calculates the number of speed clock strings Step_Zero based on the zero-width ZW. The MCU module looks up a table to obtain two-phase, equal-amplitude, same-frequency, orthogonal current signals, which are used as the given current signals for the two-phase windings of the stepper motor, along with polarity information. dir The phase relationship of the orthogonal current signals is determined to control the polarity of the SADM, outputting a sine signal SIN and a cosine signal COS. The PWM generation module, based on the sine signal SIN, the cosine signal COS, and the A-phase current feedback signal Curent_A and the B-phase current feedback signal Curent_B, calculates the real-time PWM duty cycle of PWM signal 1 and PWM signal 2, causing the motor to reset according to the set polarity and speed. When the MCU module detects the zero-position signal edge, it continues to output a pulse train of the same polarity, with the number of pulse trains being 0.5 times Step_Zero, causing the SADM to continue its reset operation to the zero position ZP, which is located at the middle of the zero-position width ZW. When reaching the zero position ZP is false, the SADE board continues to respond to the reset mode; when reaching the zero position ZP is true, the SADE board completes a positive or negative reset. At this time, the SADE position information... θ Resets the value and automatically enters hold mode, responding to other operating mode selections; In the default mode, the SADE board continues to respond to the previous working mode. If the working mode is completed, it automatically enters the hold mode until it responds to a new working mode. Finally, the PWM interrupt returns, ending the PWM interrupt routine and continuing to respond to the next PWM interrupt request.

5. A solar panel drive circuit, characterized in that, It includes two SADE boards as described in claim 2, one as the primary SADE and the other as the backup SADE. The primary SADE is used to drive the primary winding of the two-phase stepper motor in the SAMA, and the backup SADE is used to drive the backup winding of the two-phase stepper motor in the SAMA. Both the primary SADE and the backup SADE are connected to the primary power supply and the satellite computer. The satellite computer is used to control the primary power supply to supply power to the primary SADE or the backup SADE.

6. A solar panel drive device, characterized in that, Includes the solar panel drive circuit as described in claim 5 and SADM, wherein the SADM includes a two-phase stepper motor and a reducer, the two-phase stepper motor having a main winding and a backup winding, the solar panel drive circuit being connected to the two-phase stepper motor, the two-phase stepper motor being connected to the reducer, and the reducer being connected to a single-axis solar panel.

7. A single-axis solar panel system, characterized in that, It includes the solar panel drive device as described in claim 6 and a single-axis solar panel connected to the drive device.

Images