SADA double hall sensor signal processing circuit and zero reset control method

Abstract

A SADA double Hall sensor signal processing circuit and zero reset control method, the circuit includes a zero Hall sensor installed at the mechanical zero and an auxiliary Hall sensor installed at the positive / negative soft limit, a conditioning circuit for powering the sensor and pulling up, filtering and converting the sensor signal to binary high / low level signal output, and an MCU connected with the conditioning circuit. The conditioning circuit and MCU are in SADE, and the sensor is in SADM. The MCU determines the multi-mode zero reset logic through the true value of the zero Hall signal and the auxiliary Hall signal, and SADE selects the double Hall multi-mode zero reset mode or the double Hall simple one zero reset mode according to the remote control instruction of the star computer. The scheme adopts different zero reset logics for zero reset through the zero Hall signal at the mechanical zero for angle measurement and the auxiliary Hall signal at the positive / negative soft limit for auxiliary angle measurement, solving the problem that single Hall sensor cannot be applied to swing type SADA.

Description

TECHNICAL FIELD

[0001] The application relates to a solar array drive technology, in particular to a SADA double-Hall sensor signal processing circuit and a zero-return control method. BACKGROUND

[0002] The SADA (Solar Array Drive Assembly) of commercial spaceflight usually adopts a stepping motor as a driving source. The SADA is an open-loop control, and the angle position is represented by a step angle. The step angle can clear the cumulative angle error through a zero-return mode, thereby ensuring high-precision angle position control.

[0003] At present, some models of SADA adopt a scheme of a Hall sensor cooperating with a magnetic steel. The Hall sensor is installed at a fixed-end mechanical zero position or a specified position in the SADM (Solar Array Drive Machinery) in the SADA, and the magnetic steel is installed at a low-speed rotating end of the SADM. The magnetic steel rotates with the low-speed shaft and cooperates with the Hall sensor installed at the fixed end to detect the mechanism zero position signal. When the magnetic steel rotates close to the Hall sensor, the Hall sensor senses the magnetic field of the magnetic steel, and the high and low levels of the output Hall signal are converted. The SADE (Solar Array Drive Electro-circuit) in the SADA detects the Hall signal through a Hall signal processing circuit, and realizes the SADM rotating angle position control according to the pulse number of the stepping motor, thereby completing the zero-return logic.

[0004] For the SADA product with a conductive slip ring, the SADA can realize 360° continuous rotation, and the Hall sensor can realize edge detection in 360° rotation, thereby completing the zero-return mode. In order to reduce the cost of the commercial spaceflight SADA product, a swing cable is usually used to replace the conductive slip ring. The SADA is swing type and reciprocally swings within a limited angle, such as ±170° reciprocating swing. When a single Hall sensor is used for zero-return operation, the SADE cannot obtain the SADM angle position information in real time, and cannot determine the zero-return direction, thereby needing to design a complex zero-return logic to complete the zero-return operation. The zero-return logic requires the star service computer and the SADE to cooperate with each other to realize step angle telemetry, step angle binding, impact mechanical limiting and the like, so as to complete the zero-return operation under various working conditions. The zero-return logic requires the star service software design and the SADE software design to be highly matched. Under the working condition of frequent multiple impact mechanical limiting, in order to ensure the reliability of the SADM product, the harmonic gear reducer needs to be screened and the shaft assembly precision needs to be high, which indirectly increases the development cost of the SADM product. Redundant configuration of the Hall sensor and other sensors such as a potentiometer can also improve the zero-return reliability, but the cost of the potentiometer is relatively high, and an economic zero-return sensor scheme needs to be designed. SUMMARY

[0005] In order to solve the above problems of the prior art, the present application provides a SADA double Hall sensor signal processing circuit and a zero reset control method, which resets zero by using different zero reset logics through zero reset angle measurement of the zero Hall signal at the mechanical zero position and auxiliary angle measurement of the auxiliary Hall signal at the positive / negative soft limit, so as to solve the problem that the single Hall sensor cannot be applied to the swing type SADA.

[0006] In order to achieve the above purpose, the present application adopts the following technology:

[0007] A SADA double Hall sensor signal processing circuit, comprising a main circuit, the main circuit comprising a zero Hall sensor, an auxiliary Hall sensor, a conditioning circuit and an MCU;

[0008] The zero Hall sensor is installed at the mechanical zero position θmzero of the SADM, the auxiliary Hall sensor is installed at the positive soft limit angle +θlimit position / negative soft limit angle -θlimit position of the SADM, the positive soft limit angle +θlimit / negative soft limit angle -θlimit refers to the maximum angle value of the positive polarity swing / the maximum angle value of the negative polarity swing of the SADM, the conditioning circuit and the MCU are in the SADE, the zero Hall sensor and the auxiliary Hall sensor are connected to the conditioning circuit, and the conditioning circuit is connected to the MCU.

[0009] The conditioning circuit is used for supplying power to the zero Hall sensor and the auxiliary Hall sensor, and is used for up pulling and filtering the output signals of the zero Hall sensor and the auxiliary Hall sensor respectively, and converting the output signals into binary high / low level signals to form signals Szero and Saux respectively, and transmitting the signals to the capture ports CAP1 and CAP2 of the MCU respectively, and the MCU is used for determining the zero reset logic according to the edges and level states of the signal Szero collected through the capture port CAP1 and the level states of the signal Saux collected through the capture port CAP2.

[0010] Further, a backup circuit is further included, the backup circuit adopts the same structure as the main circuit, and the main circuit and the backup circuit are not powered at the same time.

[0011] A SADA zero reset control method is implemented by using the SADA double Hall sensor signal processing circuit, and the method comprises a double Hall multi-mode zero reset mode.

[0012] The Hall zero position interval is defined as follows:

[0013] The [-θzero, +θzero] interval of the first angle in the negative and positive polarity directions from the mechanical zero position θmzero is the zero Hall signal interval.

[0014] A second angle +θreturn in the positive polarity direction from the mechanical zero θmzero is a positive return angle, and a second angle -θreturn in the negative polarity direction from the mechanical zero θmzero is a negative return angle;

[0015] A positive mechanical limit angle +θmlimit is a predetermined protection angle extended outward by a positive soft limit angle +θlimit in the positive polarity direction, and a negative mechanical limit angle -θmlimit is a predetermined protection angle extended outward by a negative soft limit angle -θlimit in the negative polarity direction;

[0016] According to the positive soft limit angle +θlimit position / negative soft limit angle -θlimit position of the auxiliary Hall sensor installation, the interval [+θauxl, +θauxm] / interval [-θauxm, -θauxl] is set as an auxiliary Hall signal interval, wherein +θauxm / -θauxm corresponds to +θmlimit / -θmlimit, +θauxl / -θauxl corresponds to a position inwardly extended by a predetermined angle from the mechanical zero θmzero in the direction of the positive soft limit angle +θlimit / negative soft limit angle -θlimit; +θreturn is located between +θzero and +θauxl, and -θreturn is located between -θauxl and -θzero;

[0017] In the double Hall multi-mode zero return mode, the zero return logic is determined according to the level state of the signal Szero and the signal Saux:

[0018] When the signal Szero is at a low level and the signal Saux is at a high level, [Szero, Saux] is [0, 1], according to the positive soft limit angle +θlimit position / negative soft limit angle -θlimit position of the auxiliary Hall sensor installation, it is represented that the SADM is in the interval [+θauxl, +θauxm] / interval [-θauxm, -θauxl], and the SADM performs negative polarity zero return / positive polarity zero return;

[0019] When the signal Szero is at a high level and the signal Saux is at a low level, [Szero, Saux] is [1, 0], which represents that the SADM is in the interval [-θzero, +θzero], according to the positive soft limit angle +θlimit position / negative soft limit angle -θlimit position of the auxiliary Hall sensor installation, the SADM rotates in the positive polarity / rotates in the negative polarity to the signal Szero edge after detection, the SADE pulse step angle θsade is cleared, and continues to rotate in the positive polarity / rotate in the negative polarity to +θreturn / -θreturn to enter the holding mode, and then performs negative polarity rotation zero return / positive polarity rotation zero return;

[0020] When signal Szero is low and signal Saux is low, [Szero, Saux] is [0, 0], according to the positive soft limit angle +θlimit position / negative soft limit angle -θlimit position of the auxiliary Hall sensor installation, the SADM is in the (+θzero, +θauxl) or [-θauxm, -θzero) interval / (-θauxl, -θzero) or (+θzero, +θauxm] interval, SADM positive polarity rotation / negative polarity rotation:

[0021] If the SADE detects that signal Saux is high within a first predetermined time length, then the negative polarity rotation back to zero / positive polarity rotation is performed.

[0022] If the SADE detects the signal Szero edge within a second predetermined time length, the positive polarity rotation back to zero / negative polarity rotation back to zero is completed; the second predetermined time length is greater than the first predetermined time length.

[0023] If the back to zero is not completed within a third predetermined time length, the SADE back to zero failure flag position is high, the SADM is in a holding mode, and the next frame of correct instructions is waited for; the third predetermined time length is greater than the second predetermined time length.

[0024] When signal Szero is high and signal Saux is high, [Szero, Saux] is [1, 1], and since the signal state combination actually does not occur, it is determined that the Hall signal is faulty.

[0025] Further, the method further comprises a double Hall simple one back to zero mode; the SADE adopts the double Hall multi-mode back to zero mode or the double Hall simple one back to zero mode to back to zero in response to a control instruction of a star computer;

[0026] In the double Hall simple one back to zero mode, according to the positive soft limit angle +θlimit position / negative soft limit angle -θlimit position of the auxiliary Hall sensor installation, the SADM is first positively / negatively polarized, until the SADE detects that signal Saux is high, the SADE sends a holding mode instruction to the SADM for a predetermined delay time, then sends a reversing instruction to drive the SADM to be negatively / positively polarized, and the SADE detects the signal Szero edge to make the SADM perform negative polarity rotation back to zero; after the back to zero is completed, the step angle θsade is cleared, and the SADM enters a holding mode and stops at the mechanical zero position θmzero.

[0027] The present application has the beneficial effects that:

[0028] 1. The line structure of the application has a zero Hall sensor at the mechanical zero and an auxiliary Hall sensor at the maximum angle position of positive / negative polarity swing, the zero Hall signal and the auxiliary Hall signal are converted by the conditioning circuit pull-up filter, and the MCU selects the zero return according to the two signals, which can be applied to the swing SADA for zero return; At the same time, the cold backup mode is provided to ensure that another line can continue to run when a set of lines fails, ensuring the effectiveness of signal sampling processing and zero return logic execution;

[0029] 2. In the double Hall multi-mode zero return mode, the current angle range is determined according to the signal Szero and the signal Saux to select different modes of zero return to achieve fast zero return on the swing SADA; At the same time, the optional double Hall simple zero return mode is provided, which has simple logic and is easy to program, and the longest zero return time is also very short. The SADE can select the double Hall multi-mode zero return mode or the double Hall simple zero return mode according to the instructions of the star computer, which can meet the fast zero return demand of the whole star scheme design;

[0030] 3. The double Hall sensor zero return logic of the application is beneficial to the design of star software and SADE software, and the star computer does not need to subscribe to the step angle of the SADE, and the SADE can independently judge the zero return direction; Without the high cooperation between the star software design and the SADE software design, the coupling degree requirement of the star software and the SADE software design is reduced;

[0031] 4. Using the double Hall sensor zero return logic, zero return can be completed without hitting the mechanical limit, which ensures the reliability of the SADM product, reduces the development cost of the SADM product, and improves the price competitiveness of the commercial aerospace SADA product. DETAILED DESCRIPTION

[0032] Figure 1 is the line principle diagram of the embodiment of the application.

[0033] Figure 2 is the installation position schematic diagram of the zero Hall sensor and the auxiliary Hall sensor of the embodiment of the application.

[0034] Figure 3 is the Hall zero interval definition schematic diagram of the embodiment of the application.

[0035] Figure 4 is the double Hall multi-mode zero return mode flow chart of the embodiment of the application.

[0036] Figure 5 is the double Hall multi-mode zero return mode sequence diagram of the embodiment of the application.

[0037] Figure 6 is the double Hall simple zero return mode flow chart of the embodiment of the application.

[0038] Figure 7 is a double-Hall simple zero-return mode sequence number diagram of an embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to make the objects, technical solutions and advantages of embodiments of the present application clearer, the embodiments of the present application are described in detail below with reference to the drawings, but the described embodiments of the present application are only some of the embodiments of the present application, not all of the embodiments of the present application.

[0040] In an aspect of an embodiment of the present application, an SADA double-Hall sensor signal processing circuit is provided, including a main circuit, as shown in Figure 1 The main circuit includes a zero Hall sensor, an auxiliary Hall sensor, a conditioning circuit and an MCU.

[0041] The zero Hall sensor is installed at a mechanical zero position θmzero of the SADM, and the auxiliary Hall sensor is installed at a positive soft limit angle +θlimit position / negative soft limit angle -θlimit position of the SADM, as shown in Figure 2 The positive soft limit angle +θlimit / negative soft limit angle -θlimit refers to a maximum angle value of positive polarity swing / negative polarity swing of the SADM; the conditioning circuit and the MCU are in the SADE, the zero Hall sensor and the auxiliary Hall sensor are connected to the conditioning circuit, and the conditioning circuit is connected to the MCU.

[0042] The conditioning circuit is used to supply power for the zero Hall sensor and the auxiliary Hall sensor, and is used to pull up and filter the output signals of the zero Hall sensor and the auxiliary Hall sensor respectively, and convert them into binary high and low level signals to form a signal Szero and a signal Saux respectively, and transmit them to a capture port CAP1 and a capture port CAP2 of the MCU, and the MCU is used to determine a zero-return logic according to the edges and level states of the signal Szero collected through the capture port CAP1 and the level states of the signal Saux collected through the capture port CAP2.

[0043] Specifically, the zero Hall sensor and the auxiliary Hall sensor receive 12VDC power supply of the conditioning circuit, and output an open collector OC1 and a power supply ground GND to the conditioning circuit.

[0044] Specifically, the conditioning circuit includes a pull-up circuit 1, a low-pass filter, a hysteresis comparator and a pull-up circuit 2.

[0045] The pull-up circuit 1 is used to provide a first pull-up voltage for the OC1, and input the output signals of the zero Hall sensor and the auxiliary Hall sensor to a low-pass filter after being pulled up according to the first pull-up voltage; the low-pass filter is used to input the signals to the non-inverting input terminal of a hysteresis comparator after low-pass filtering to filter out high-frequency noise; the hysteresis comparator is used to output binary high and low level signals to the pull-up circuit 2 according to the signals input by the non-inverting input terminal and the reference level connected to the inverting input terminal; the pull-up circuit 2 is used to provide a second pull-up voltage, such as 3.3V, and output the signals Szero and Saux to the MCU after pulling up the output signals of the hysteresis comparator. The MCU usually selects a microprocessor with an anti-radiation index.

[0046] The MCU performs software filtering on the obtained signals Szero and Saux to avoid false touch phenomenon; then determines the zero return logic according to the signal level states of the software filtered signals Szero and Saux to perform the zero return operation of the SADM, so as to realize the zero return of the Hall sensor in the swing type SADA.

[0047] In order to ensure the stability of signal acquisition and line operation, preferably, a backup line is further included, which adopts the same circuit structure and signal transmission relationship as the main line, as shown in Figure 1 , which will not be repeated here. The installation positions of the backup zero Hall sensor and the backup auxiliary Hall sensor of the backup line are also consistent with those of the main line, as shown in Figure 2 , which will not be repeated here. By setting a cold backup mode, they are not powered at the same time, and when one of them fails, the other one works to ensure the stability of operation.

[0048] Another aspect of the embodiment of the present application provides a SADA zero return control method based on the SADA double Hall sensor signal processing line described in the foregoing embodiment.

[0049] The related angle values and angle intervals of the zero Hall and the auxiliary Hall are as shown in Figure 3 , and the Hall zero position interval is defined as follows:

[0050] The [-θzero, +θzero] interval of the first angle in the positive and negative polarity directions from the mechanical zero θmzero is the zero Hall signal interval, such as [-6°, +6°];

[0051] The +θreturn of the second angle in the positive polarity direction from the mechanical zero θmzero is the positive return angle, such as +20°, and the -θreturn of the second angle in the negative polarity direction from the mechanical zero θmzero is the negative return angle, such as -20°;

[0052] In the positive polarity direction, the positive soft limit angle +θlimit is extended outward by a predetermined protection angle to be the positive mechanical limit angle +θmlimit, such as +θlimit being +135° and +θmlimit being +140°; in the negative polarity direction, the negative soft limit angle -θlimit is extended outward by a predetermined protection angle to be the negative mechanical limit angle -θmlimit, such as -θlimit being -135° and -θmlimit being -140°.

[0053] According to the positive soft limit angle +θlimit position / negative soft limit angle -θlimit position of the auxiliary Hall sensor installation, the interval [+θauxl, +θauxm] / interval [-θauxm, -θauxl] is set as the auxiliary Hall signal interval, wherein +θauxm / -θauxm corresponds to +θmlimit / -θmlimit, and +θauxl / -θauxl corresponds to a position inwardly extended by a predetermined angle from the mechanical zero position θmzero in the positive soft limit angle +θlimit / negative soft limit angle -θlimit direction; for example, the interval [+θauxl, +θauxm] is [+128°, +140°], and the interval [-θauxm, -θauxl] is [-140°, -128°].

[0054] The zero reset control method has a double Hall multi-mode zero reset mode. In this mode, the zero reset logic is determined according to the level state of the signal Szero and the signal Saux, and in the following, the auxiliary Hall sensor is installed at the positive soft limit angle +θlimit position as an example for description. The zero reset logic can be derived according to the same principle for the case that the auxiliary Hall sensor is installed at the negative soft limit angle -θlimit position.

[0055] According to the SADA swing angle range, the collected zero position Hall signal Szero and auxiliary Hall signal Saux are traversed to determine the zero reset logic number, and its truth table is shown in Table 1 below:

[0056] Table 1 Double Hall signal and multi-mode zero reset logic truth table

[0057]

[0058] In combination with Figure 4 and Figure 5 Detailed description of the double Hall multi-mode zero reset mode is as follows:

[0059] Since the magnetic steel cannot be detected by the zero Hall and the auxiliary Hall at the same time during the rotation of the SADM, the zero Hall signal Szero and the auxiliary Hall signal Saux detected by the SADM cannot be 1 at the same time. Therefore, when the zero Hall signal Szero and the auxiliary Hall signal Saux are both 1, [Szero, Saux] is [1, 1], and since this signal state does not actually occur, the signal is incorrect, and it can be determined that the Hall signal is faulty, and there is no correct zero return logic sequence number.

[0060] When the signal Szero is low and the signal Saux is high, [Szero, Saux] is [0, 1], according to the installation of the auxiliary Hall sensor at the positive soft limit angle +θlimit position, it is represented that the SADM is in the interval of [+θauxl, +θauxm], that is, [+128°, +140°], and the SADM performs negative polarity zero return; corresponding to sequence number 1 in Figure 5 , which is mode 1 for the zero return mode.

[0061] When the signal Szero is high and the signal Saux is low, [Szero, Saux] is [1, 0], which represents that the SADM is in the interval of [-θzero, +θzero], that is, [-6°, +6°], according to the installation of the auxiliary Hall sensor at the positive soft limit angle +θlimit position, the SADM rotates to the positive polarity after the falling edge of the signal Szero is detected, the SADE pulse step angle θsade is cleared, and continues to rotate to +θreturn in the positive polarity to enter the holding mode, and then performs negative polarity rotation zero return / positive polarity rotation zero return; corresponding to sequence number 2 in Figure 5 , which is mode 2 for the zero return mode.

[0062] Mode 3: When the signal Szero is low and the signal Saux is low, [Szero, Saux] is [0, 0], according to the installation of the auxiliary Hall sensor at the positive soft limit angle +θlimit position, it is represented that the SADM is in the interval of (+θzero, +θauxl) or [-θauxm, -θzero), that is, (+6°, +128°) or (-140°, -6°), the SADM rotates in the positive polarity: if the signal Saux is high within the first predetermined time of 204s, the SADM is detected, then it performs negative polarity rotation zero return to complete the zero return mode, corresponding to sequence number 2 in Figure 5 ; if the rising edge of the signal Szero is detected within the second predetermined time of 224s, the SADM is detected, then it completes the positive polarity rotation zero return to complete the zero return mode, corresponding to sequence number 1 in Figure 5The SADE zero return fails flag is high if the zero return is not completed within 416.7s, and the SADM is in the holding mode, waiting for the next frame of correct instructions. The zero return time is relatively short, and the longest time is no more than 416.7s.

[0063] Optionally, the zero return control method of the present example also provides a double-Hall simple zero return mode. The SADE adopts the double-Hall multi-mode zero return mode or the double-Hall simple zero return mode to return to zero in response to the control instructions of the spacecraft computer.

[0064] In the double-Hall simple zero return mode, the auxiliary Hall sensor is also installed at the positive soft limit angle +θlimit position. The installation at the -θlimit position can be derived according to the same principle and is not described again.

[0065] In the double-Hall simple zero return mode, only a single zero return logic is designed. The zero return logic is the same under the four conditions of sequence number 1 to sequence number 4 determined according to different SADA swing angles. That is, the SADA first rotates in the positive polarity until the auxiliary Hall signal is detected to be high, and then performs negative zero return to complete the simple zero return mode.

[0066] Specifically, referring to Figure 6 and Figure 7 , the spacecraft computer sends a double-Hall simple zero return mode instruction, and the SADE responds to the double-Hall simple zero return mode remote control instruction. The instruction drives the SADM to first rotate in the positive polarity until the SADE detects that the signal Saux is high. After a predetermined delay time, for example, 250ms, the SADE sends a reverse instruction to drive the SADM to rotate in the negative polarity. When the SADE detects the signal Szero edge, the SADM performs negative polarity rotation zero return. After the zero return is completed, the step angle θsade is cleared, and the SADM enters the holding mode and stops at the mechanical zero position θmzero. The zero return logic is simple and easy to implement. The longest zero return mode time in the range of [-140°, -6°) is only 660 seconds.

[0067] The above only describes the preferred embodiments of the present application and is not used to limit the present application. Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application.

Claims

1. A SADA dual-Hall-sensor signal processing circuit, characterized by, The main circuit includes a zero Hall sensor, an auxiliary Hall sensor, a conditioning circuit and an MCU. The zero Hall sensor is installed at a mechanical zero position θmzero of the SADM, the auxiliary Hall sensor is installed at a positive soft limit angle +θlimit position / negative soft limit angle -θlimit position of the SADM, the positive soft limit angle +θlimit / negative soft limit angle -θlimit refers to a maximum angle value of positive polarity swing / negative polarity swing of the SADM, the conditioning circuit and the MCU are in the SADE, the zero Hall sensor and the auxiliary Hall sensor are connected to the conditioning circuit, and the conditioning circuit is connected to the MCU. The conditioning circuit is used for supplying power for the zero Hall sensor and the auxiliary Hall sensor, and is used for respectively performing pull-up and filtering on output signals of the zero Hall sensor and the auxiliary Hall sensor, and converting the output signals into binary high / low level signals to form a signal Szero and a signal Saux respectively, and transmitting the signal Szero and the signal Saux to a capture port CAP1 and a capture port CAP2 of the MCU, and the MCU is used for determining a zero return logic according to an edge and a level state of the signal Szero collected through the capture port CAP1 and a level state of the signal Saux collected through the capture port CAP2.

2. The SADA dual-Hall-sensor signal processing circuit according to claim 1, characterized in that The conditioning circuit includes a pull-up circuit 1, a low-pass filter, a hysteresis comparator and a pull-up circuit 2. The pull-up circuit 1 is used for providing a first pull-up voltage, and is used for respectively performing pull-up on output signals of the zero Hall sensor and the auxiliary Hall sensor according to the first pull-up voltage and inputting the output signals into the low-pass filter. The low-pass filter is used for respectively performing low-pass filtering on input signals to filter out high-frequency noise and inputting the input signals into a same-phase input end of the hysteresis comparator. The hysteresis comparator is used for respectively outputting binary high / low level signals to the pull-up circuit 2 according to signals inputted into the same-phase input end and a reference level connected to an inverse-phase input end of the hysteresis comparator. The pull-up circuit 2 is used for providing a second pull-up voltage, and is used for respectively performing pull-up on output signals of the hysteresis comparator according to the second pull-up voltage and outputting the output signals to the MCU as the signal Szero and the signal Saux.

3. The SADA dual-Hall-sensor signal processing circuit of claim 1, wherein, The backup circuit adopts the same structure as the main circuit, and the main circuit and the backup circuit are not powered on at the same time.

4. A method of SADA zeroing control, characterized by, The SADA double Hall sensor signal processing circuit is implemented by using the method, and the method includes a double Hall multi-mode zero return mode. The zero Hall signal interval is defined as follows: A first angle [-θzero, +θzero] from the mechanical zero position θmzero in the negative and positive polarity directions is the zero Hall signal interval. A second angle +θreturn from the mechanical zero position θmzero in the positive polarity direction is a positive return angle, and a second angle -θreturn from the mechanical zero position θmzero in the negative polarity direction is a negative return angle. In the positive polarity direction, a positive mechanical limit angle +θmlimit is extended outward by a predetermined protection angle from the positive soft limit angle +θlimit, and in the negative polarity direction, a negative mechanical limit angle -θmlimit is extended outward by a predetermined protection angle from the negative soft limit angle -θlimit. According to the positive soft limit angle +θlimit position / negative soft limit angle -θlimit position of the auxiliary Hall sensor installation, the [+θauxl, +θauxm] interval / [-θauxm, -θauxl] interval is set as the auxiliary Hall signal interval, wherein +θauxm / -θauxm corresponds to +θmlimit / -θmlimit, and +θauxl / -θauxl corresponds to a position at which the positive soft limit angle +θlimit / negative soft limit angle -θlimit is expanded inward by a predetermined angle in the direction of the mechanical zero position θmzero; In the double Hall multi-mode zero return mode, the zero return logic is determined according to the level state of the signal Szero and the signal Saux: When the signal Szero is at a low level and the signal Saux is at a high level, [Szero, Saux] is [0, 1], according to the positive soft limit angle +θlimit position / negative soft limit angle -θlimit position of the auxiliary Hall sensor installation, it is represented that the SADM is in the [+θauxl, +θauxm] interval / [-θauxm, -θauxl] interval, and the SADM performs negative polarity zero return / positive polarity zero return; When the signal Szero is at a high level and the signal Saux is at a low level, [Szero, Saux] is [1, 0], it is represented that the SADM is in the [-θzero, +θzero] interval, according to the positive soft limit angle +θlimit position / negative soft limit angle -θlimit position of the auxiliary Hall sensor installation, the SADM positively / negatively rotates to the signal Szero edge is detected, the SADE pulse step angle θsade is cleared, and the positive / negative rotation is continued to +θreturn / -θreturn to enter the holding mode, and then the negative / positive rotation zero return is performed; When the signal Szero is at a low level and the signal Saux is at a low level, [Szero, Saux] is [0, 0], according to the positive soft limit angle +θlimit position / negative soft limit angle -θlimit position of the auxiliary Hall sensor installation, it is represented that the SADM is in the (+θzero, +θauxl) or [-θauxm, -θzero) interval / (-θauxl, -θzero) or (+θzero, +θauxm] interval, and the SADM positively / negatively rotates: If the SADE detects that the signal Saux is at a high level within a first predetermined time length, negative / positive rotation zero return is performed; If the SADE detects the signal Szero edge within a second predetermined time length, positive / negative rotation zero return is completed; The second predetermined time length is greater than the first predetermined time length; If the zero return is not completed within a third predetermined time length, the SADE zero return failure flag position is high, the SADM is in the holding mode, and the next frame of correct instructions is waited; the third predetermined time length is greater than the second predetermined time length.

5. The SADA zeroing control method of claim 4, wherein, When the signal Szero is high, the signal Saux is high, [Szero, Saux] is [1, 1], and it is determined that the Hall signal is faulty.

6. The SADA zeroing control method of claim 4, wherein, The method further comprises a double Hall simple zero-return mode; the SADE adopts the double Hall multi-mode zero-return mode or the double Hall simple zero-return mode to return to zero according to the control instruction of the star service computer. In the double Hall simple zero-return mode, according to the positive soft limit angle +θlimit position / negative soft limit angle-θlimit position of the auxiliary Hall sensor installation, the SADM is first positively / negatively polarized to rotate until the SADE detects that the signal Saux is high, then the SADE sends a holding mode instruction to the SADM for a predetermined delay time, and then sends a reversing instruction to drive the SADM to negatively / positively polarize to rotate, and the SADE detects the signal Szero edge to make the SADM execute negative polarity rotation to return to zero. After the zero-return is completed, the step angle θsade is cleared, the SADM enters the holding mode, and stops at the mechanical zero position θmzero.

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