Dynamic closed-loop compensation parameter design method and system for cantilever CMG outer frame controller

Abstract

The application discloses a kind of cantilever type CMG outer frame controller dynamic closed loop compensation parameter design method and system, comprising: the step response curve of current loop of motor is collected;Whether first rise time t rc , first adjustment time t sc And first overshoot σ c % all meet preset requirements, otherwise change current loop PI control parameter;The step response curve of speed loop is collected;Whether second rise time t rs , second adjustment time t ss And second overshoot σ s % all meet preset speed response requirements, otherwise change current loop PI control parameter determines a group of controller closed loop compensation parameter and records the speed loop bandwidth.The application has the advantages that closed loop compensation parameter can be changed on line and coupling resonance phenomenon with whole star structure is avoided, so that product performance is improved.

Description

Technical Field

[0001] This invention belongs to the field of space satellite attitude and orbit control technology, and particularly relates to a design method and system for dynamic closed-loop compensation parameters of a cantilevered CMG outer frame controller. Background Technology

[0002] When cantilever control moment gyroscopes are used for satellite attitude control, they are affected by the micro-vibration interference of the entire satellite. To reduce this impact, vibration isolators are often installed. However, this solution leads to a decrease in the natural frequency of the control moment gyroscope's local installation area, which can easily cause resonance with the outer frame. This not only reduces the accuracy of satellite attitude control but also damages the control moment gyroscope system. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a dynamic closed-loop compensation parameter design method and system for a cantilever CMG outer frame controller. This method has the advantages of being able to change the closed-loop compensation parameters online and avoiding coupling resonance with the overall satellite structure, thereby improving product performance.

[0004] The objective of this invention is achieved through the following technical solution: a method for designing dynamic closed-loop compensation parameters for a cantilevered CMG outer frame controller, comprising: step S100: applying a step current source excitation to the outer frame motor under the action of only the current loop, and acquiring the step response curve of the motor current loop; step S200: obtaining the first rise time t of the step response curve of the motor current loop based on the step response curve of the motor current loop. rc First adjustment time t sc and the first overshoot σ c %; Step S300: If the first rise time t rc First adjustment time t sc and the first overshoot σ c If all preset requirements are met, proceed to step S400; otherwise, change the current loop PI control parameters and return to step S100. Step S400: Under the closed-loop action of the current loop and speed loop, the outer frame motor sends a speed loop step command to the outer frame motor, and collects the speed loop step response curve. Step S500: Obtain the second rise time t of the speed loop step response curve based on the speed loop step response curve. rs Second adjustment time t ss Second overshoot σ s %; Step S600: If the second rise time t rs Second adjustment time t ss Second overshoot σ sIf all parameters meet the preset speed response requirements, proceed to step S700; otherwise, change the speed loop PI control parameters and return to step S400. Step S700: Determine a set of controller closed-loop compensation parameters and record the speed loop bandwidth of step S600, change the current loop PI control parameters again, and return to step S100.

[0005] The above-mentioned design method for dynamic closed-loop compensation parameters of cantilever CMG frame controller also includes: step S800: repeat steps S100 to S700 to output three sets of controller closed-loop compensation parameters with different speed loop bandwidths.

[0006] In the above-mentioned design method for dynamic closed-loop compensation parameters of cantilever CMG frame controller, in step S100, the step response curve of the motor current loop is acquired through serial communication.

[0007] In the above-mentioned design method for dynamic closed-loop compensation parameters of cantilever CMG frame controller, in step S400, the step response curve of the speed loop is acquired through serial communication.

[0008] In the above-mentioned design method for dynamic closed-loop compensation parameters of cantilever CMG frame controller, the method is implemented based on the position, speed, and current three-closed-loop control speed regulation system of FPGA circuit.

[0009] In the above-mentioned design method for dynamic closed-loop compensation parameters of cantilever CMG outer frame controller, the position loop will calculate the required speed value based on the position deviation of the outer frame motor and send the speed value to the speed loop.

[0010] In the above-mentioned design method for dynamic closed-loop compensation parameters of the cantilever CMG frame controller, the speed loop performs speed control based on the speed command and the speed value of the position closed loop, and sends the current value to the current loop. The output of the current loop drives the motor to move.

[0011] A dynamic closed-loop compensation parameter design system for a cantilevered CMG frame controller includes: a first module for applying a step current source excitation to the frame motor under current loop only, and acquiring the step response curve of the motor current loop; and a second module for obtaining the first rise time t of the step response curve of the motor current loop based on the step response curve of the motor current loop. rc First adjustment time t sc and the first overshoot σ c %; The third module is used to determine the first rise time t rc First adjustment time t sc and the first overshoot σ cThe fourth module is used to send a speed loop step command to the outer frame motor under the closed-loop action of the current loop and speed loop, and to collect the step response curve of the speed loop; the fifth module is used to obtain the second rise time t of the step response curve of the speed loop based on the step response curve of the speed loop. rs Second adjustment time t ss Second overshoot σ s %; Module 6, used to determine the second rise time t rs Second adjustment time t ss Second overshoot σ s Whether the preset speed response requirements are met; the seventh module is used to determine a set of controller closed-loop compensation parameters and record the speed loop bandwidth.

[0012] The above-mentioned cantilevered CMG frame controller dynamic closed-loop compensation parameter design system also includes: an eighth module, which is used to output three sets of controller closed-loop compensation parameters with different speed loop bandwidths.

[0013] An electronic device includes: a memory for storing computer-readable instructions; and a processor for executing the computer-readable instructions to perform a dynamic closed-loop compensation parameter design method for a cantilevered CMG frame controller.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] (1) By utilizing the characteristics of closed-loop compensation parameters of different speed loop bandwidth controllers, this invention achieves the effect of controlling the torque gyroscope to adapt to different application scenarios with different local natural frequencies of different satellite installations, thus avoiding coupling resonance with the satellite structure.

[0016] (2) The present invention improves the performance of control torque gyroscope products by allowing the bandwidth characteristics of the control torque gyroscope to be changed online. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0018] Figure 1 This is a structural block diagram of the position, speed, and current three-closed-loop control speed regulation system based on FPGA circuit provided in an embodiment of the present invention;

[0019] Figure 2 This is a flowchart of the dynamic closed-loop compensation parameter design method for the cantilever CMG outer frame controller provided in an embodiment of the present invention. Detailed Implementation

[0020] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] Figure 2 This is a flowchart of the dynamic closed-loop compensation parameter design method for the cantilever CMG frame controller provided in an embodiment of the present invention. Figure 2 As shown, the method includes the following steps:

[0022] Step S100: When the outer frame motor is under the action of only the current loop, apply a step current source excitation to the outer frame motor and collect the step response curve of the motor current loop through serial communication;

[0023] Step S200: Obtain the first rise time t of the step response curve of the motor current loop based on the step response curve of the motor current loop. rc First adjustment time t sc and the first overshoot σ c %;

[0024] Step S300: If the first rise time t rc First adjustment time t sc and the first overshoot σ c If all preset requirements are met, proceed to step S400; otherwise, change the current loop PI control parameters and return to step S100. The preset requirement is the first rise time t. rc No more than 4ms, first adjustment time t sc The first overshoot σ does not exceed 10ms. c % not exceeding 15%;

[0025] Step S400: Under the closed-loop action of the current loop and speed loop, the outer frame motor sends a speed loop step command to the outer frame motor, and collects the step response curve of the speed loop through serial communication;

[0026] Step S500: Obtain the second rise time t of the step response curve of the velocity loop based on the step response curve of the velocity loop. rs Second adjustment time t ss Second overshoot σ s %;

[0027] Step S600: If the second rise time t rs Second adjustment time t ss Second overshoot σ s If all parameters meet the preset speed response requirements, proceed to step S700; otherwise, change the speed loop PI control parameters and return to step S400. The preset speed response requirement is the second rise time t. rs No more than 20ms, second adjustment time t ss The second overshoot σ does not exceed 50ms. s % not exceeding 10%;

[0028] Step S700: Determine a set of controller closed-loop compensation parameters and record the speed loop bandwidth of step S600. Change the current loop PI control parameters again and return to step S100.

[0029] The method also includes step S800: repeating steps S100 to S700 to output three sets of closed-loop compensation parameters for the controller with different speed loop bandwidths. This enables the cantilever CMG to adapt to different application scenarios with different local natural frequencies when the bandwidth characteristics of the control torque gyroscope are changed online.

[0030] The design method for dynamic closed-loop compensation parameters of the cantilever CMG frame controller is based on Figure 1 The position, speed, and current three-closed-loop control speed regulation system based on FPGA circuits, such as Figure 1 As shown, the FPGA-based three-closed-loop control speed regulation system for position, speed, and current includes a first comparator, a first controller, a second comparator, a second controller, a third comparator, a fourth comparator, a motor, a torque coefficient, a fifth comparator, a first arithmetic unit, a second arithmetic unit, and a third arithmetic unit; wherein,

[0031] The first comparator, the first controller, the second comparator, the second controller, the third comparator, the third controller, the fourth comparator, the motor, the torque coefficient, the fifth comparator, the first arithmetic unit, the second arithmetic unit, and the third arithmetic unit are connected in sequence;

[0032] The signal flow is as follows: the angle setpoint and the measured angle value are transmitted to the first comparator module, the difference is compared and passed through the first controller to obtain the angular velocity setpoint, the angular velocity setpoint and the actual angular velocity value are transmitted to the second comparator module, the difference is compared and passed through the second controller to obtain the current setpoint, the current setpoint and the actual current value are transmitted to the third comparator module, the difference is compared and passed through the third controller to convert it into a voltage setpoint, the voltage setpoint and the output value of the first arithmetic unit are transmitted to the fourth comparator, the difference is compared and transmitted to the motor module, multiplied by the motor torque coefficient to obtain the torque, the torque and the resistance torque are transmitted to the fifth comparator, the difference is compared and transmitted to the first arithmetic unit, then passed through the second arithmetic unit to obtain the actual angular velocity value, the actual angular velocity value is transmitted to the third arithmetic unit to obtain the actual angle value, forming a position, speed, and current three-closed-loop control speed regulation system based on FPGA circuit.

[0033] The position loop consists of a first comparator and a first controller; the speed loop consists of a second comparator and a second controller; and the current loop consists of a fourth comparator, a motor, a torque coefficient, a fifth comparator, and a first arithmetic unit.

[0034] like Figure 1 As shown, Actel's A3P250 is selected as the data processor, and the corresponding peripheral circuits are configured; the serial communication circuit uses JSR26C32D and JSR26C31AD from the 58th Research Institute of China Electronics Technology Group Corporation for exchanging data with the computer; finally, an induction permanent magnet synchronous motor is selected as the load.

[0035] This embodiment first writes a software program to the A3P250 with only current loop control. A step current excitation is applied to the outer frame controller via a serial port chip using a computer. Then, step response data under these parameters is acquired via the serial port chip. Matlab software is used to derive the current-time amplitude-frequency and phase-frequency curves. The rise time, settling time, and overshoot of the step curves are used to determine whether the current loop PI control parameters are selectable. Next, under closed-loop control of the current and speed loops, speed commands are sent to the controller via the serial port. The speed loop closed-loop response data is acquired, and the speed-time amplitude-frequency and phase-frequency curves are obtained. The rise time, settling time, and overshoot of the response curves are used to determine whether the speed loop PI control parameters are selectable, obtaining the corresponding controller bandwidth and determining the speed loop PI control compensation parameters. The above test process is repeated with several other sets of current and speed loop PI parameters, finally obtaining closed-loop compensation parameters under different bandwidths, such as... Figure 2 As shown.

[0036] Different sets of PI parameters for current loops and speed loops can be written into the FPGA, and different parameter selection commands can be sent to the controller, enabling the selection of dynamic closed-loop compensation parameters for the outer frame controller.

[0037] A speed regulation system based on FPGA circuitry with three closed-loop control of position, speed, and current, exhibiting step response under current loop action, step response under speed loop action, and the ability to change the closed-loop bandwidth of the outer frame controller online.

[0038] The position loop calculates the required speed value based on the position deviation of the outer frame motor and sends the speed value to the speed loop; the speed loop performs speed control based on the speed command and the speed value of the position closed loop, and sends the current value to the current loop. The output of the current loop drives the motor to move.

[0039] With the outer frame motor under closed-loop control of only the current loop, step response curves of different PI control parameters were collected under step current excitation.

[0040] Under the closed-loop action of the current loop and speed loop, a speed step command is sent, and step response curves under different speed loop PI control compensation parameters are collected to obtain the speed loop bandwidth.

[0041] By sending parameter selection commands through a computer, different PI compensation parameters are configured for the current loop and speed loop, enabling dynamic closed-loop compensation control of the outer frame motor and improving the stability of the attitude and track control system.

[0042] This embodiment also provides a dynamic closed-loop compensation parameter design system for a cantilevered CMG frame controller, the system comprising:

[0043] The first module is used to apply a step current source excitation to the outer frame motor under the action of only the current loop, and to collect the step response curve of the motor current loop;

[0044] The second module is used to obtain the first rise time t of the step response curve of the motor current loop based on the step response curve of the motor current loop. rc First adjustment time t sc and the first overshoot σ c %;

[0045] The third module is used to determine the first rise time t. rc First adjustment time t sc and the first overshoot σ c Does the percentage meet the preset requirements?

[0046] The fourth module is used to send a speed loop step command to the outer frame motor under the closed-loop action of the current loop and speed loop, and to collect the step response curve of the speed loop.

[0047] The fifth module is used to obtain the second rise time t of the step response curve of the velocity loop based on the step response curve of the velocity loop. rs Second adjustment time t ss Second overshoot σ s %;

[0048] The sixth module is used to determine the second rise time t. rs Second adjustment time t ss Second overshoot σ s Does each of these parameters meet the preset speed response requirements?

[0049] The seventh module is used to determine a set of controller closed-loop compensation parameters and record the speed loop bandwidth;

[0050] The eighth module is used to output three sets of closed-loop compensation parameters for the speed loop bandwidth controller with different speed loops.

[0051] This embodiment also provides an electronic device, including: a memory for storing computer-readable instructions; and a processor for running the computer-readable instructions to execute a dynamic closed-loop compensation parameter design method for a cantilevered CMG frame controller.

[0052] This embodiment utilizes the characteristics of closed-loop compensation parameters of different velocity loop bandwidth controllers to achieve the effect of controlling the torque gyroscope to adapt to application scenarios with different local natural frequencies in different satellite installations, thus avoiding coupling resonance with the satellite structure. This embodiment also improves the performance of the torque gyroscope product by allowing online modification of its bandwidth characteristics.

[0053] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A method for designing dynamic closed-loop compensation parameters for a cantilevered CMG frame controller, characterized in that... include: Step S100: Apply a step current source excitation to the outer frame motor under the action of only the current loop, and collect the step response curve of the motor current loop; Step S200: Obtain the first rise time t of the step response curve of the motor current loop based on the step response curve of the motor current loop. rc First adjustment time t sc and the first overshoot σ c % Step S300: If the first rise time t rc First adjustment time t sc and the first overshoot σ c If all preset requirements are met, proceed to step S400; otherwise, change the current loop PI control parameters and return to step S100. Step S400: Under the closed-loop action of the current loop and speed loop, the outer frame motor sends a speed loop step command to the outer frame motor and collects the speed loop step response curve; Step S500: Obtain the second rise time t of the step response curve of the velocity loop based on the step response curve of the velocity loop. rs Second adjustment time t ss Second overshoot σ s % Step S600: If the second rise time t rs Second adjustment time t ss Second overshoot σ s If all preset speed response requirements are met, proceed to step S700; otherwise, change the speed loop PI control parameters and return to step S400. Step S700: Determine a set of controller closed-loop compensation parameters and record the speed loop bandwidth of step S600, change the current loop PI control parameters again, and return to step S100. Also includes: Step S800: Repeat steps S100 to S700 to output three sets of closed-loop compensation parameters for the controller with different speed loop bandwidths. This enables the cantilever CMG to adapt to different application scenarios with different local natural frequencies in different satellite installations by changing the bandwidth characteristics of the control torque gyroscope online. In step S100, the step response curve of the motor current loop is acquired via serial communication; In step S400, the step response curve of the speed loop is acquired via serial communication; The method is implemented based on a three-closed-loop control speed regulation system of position, speed, and current using an FPGA circuit. The position loop will calculate the required speed value based on the position deviation of the outer frame motor and send the speed value to the speed loop; The speed loop performs speed control based on the speed command and the speed value of the position closed loop, and sends the current value to the current loop. The output of the current loop drives the motor to move.

2. A dynamic closed-loop compensation parameter design system for a cantilevered CMG frame controller, characterized in that... include: The first module is used to apply a step current source excitation to the outer frame motor under the action of only the current loop, and to collect the step response curve of the motor current loop; The second module is used to obtain the first rise time t of the step response curve of the motor current loop based on the step response curve of the motor current loop. rc First adjustment time t sc and the first overshoot σ c % The third module is used to determine the first rise time t. rc First adjustment time t sc and the first overshoot σ c Does the percentage meet the preset requirements? The fourth module is used to send a speed loop step command to the outer frame motor under the closed-loop action of the current loop and speed loop, and to collect the step response curve of the speed loop. The fifth module is used to obtain the second rise time t of the step response curve of the velocity loop based on the step response curve of the velocity loop. rs Second adjustment time t ss Second overshoot σ s % The sixth module is used to determine the second rise time t. rs Second adjustment time t ss Second overshoot σ s Does each of these parameters meet the preset speed response requirements? The seventh module is used to determine a set of controller closed-loop compensation parameters and record the speed loop bandwidth; It also includes: the eighth module, which is used to output three sets of closed-loop compensation parameters for the controller with different speed loop bandwidths, so as to enable the cantilever CMG to adapt to different application scenarios with different local natural frequencies of different satellite installations by changing the bandwidth characteristics of the control torque gyroscope online; The step response curve of the motor current loop is acquired through serial communication; The step response curve of the speed loop was acquired via serial communication; The system is a three-closed-loop control speed regulation system based on FPGA circuits for position, speed, and current. The position loop will calculate the required speed value based on the position deviation of the outer frame motor and send the speed value to the speed loop; The speed loop performs speed control based on the speed command and the speed value of the position closed loop, and sends the current value to the current loop. The output of the current loop drives the motor to move.

3. An electronic device, characterized in that, include: Memory: Used to store computer-readable instructions; and Processor: configured to execute the computer-readable instructions and perform the method as described in claim 1.

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