High-precision magnetic torque controller control circuit capable of cooperating with magnetometer

Abstract

The application relates to a high-precision magnetic torque device control circuit capable of realizing cooperative control with a magnetometer, which comprises a cooperative control module, a magnetic torque device quick-off control module, a magnetic torque device main drive circuit module and a magnetometer acquisition module. The magnetic torque device and the magnetometer work time slices are distributed in real time according to needs through the magnetic torque device and the magnetometer cooperative control module; the magnetic torque device drive current is quickly stabilized and returned to zero through the magnetic torque device quick-off control module; the output magnetic moment of the magnetic torque device is adjusted through the magnetic torque device main drive circuit module; and the spatial magnetic field intensity and vector are quickly and real-timely measured through the magnetometer acquisition module. The application realizes the cooperative control of the magnetic torque device and the magnetometer, shortens the idle time slice under the condition that the driving element and the detecting element are completely decoupled from the magnetic field, and greatly improves the detecting efficiency and the control stability of the super-stable satellite.

Description

TECHNICAL FIELD

[0001] The application relates to a high-precision magnetic torque controller capable of realizing cooperative control with a magnetometer, and belongs to the technical field of spacecraft driving and control. BACKGROUND

[0002] The operation rhythm of a super quiet satellite for a magnetic torque device and a magnetometer is higher. On one hand, the magnetic torque device generates a required magnetic moment by receiving a control signal provided by a satellite-borne computer, and then generates a torque under the action of an orbital geomagnetic field, which is directly used as a control torque for flywheel unloading and realization of satellite attitude magnetic control. Meanwhile, the magnetic torque device is also a main magnetic field interference source in a satellite platform, especially in a high-precision space magnetic field detection task. For example, when the magnetometer works, the magnetic torque device must not work. Therefore, how to design a new mode of time-sharing work, short interval and dynamic adjustment of time slice between the magnetic torque device and the magnetometer is the core of the magnetic control work of the super quiet satellite.

[0003] The existing magnetic torque device and magnetometer control method has the following shortcomings:

[0004] The control and measurement of the magnetic field cannot be completely decoupled. A delay is introduced through communication to realize the interval work of the magnetic torque device and the magnetometer. Due to the short interval time, the control line current of the magnetic torque device has not returned to zero, and the pure geomagnetic field cannot be measured, thereby introducing a control input error.

[0005] The interval time between control and measurement is difficult to control. The existing control method does not have a special module to dynamically adjust the time slice according to the driving current of the magnetic torque device, which may cause the influence of residual magnetism on the measurement accuracy. If the interval time is long, the measurement and control will have a blank section, and the satellite attitude and orbit control will be discontinuous, which is difficult to guarantee high precision.

[0006] The utility model patent with the application number CN201520343049.7 discloses a magnetic assembly control line box for customizable satellite, but does not introduce the working mode of the magnetic torque device and the magnetometer. The invention patent with the application number CN202210661886.9 discloses a satellite-borne magnetic torque device for digitally adjusting magnetic moment values. The output magnetic moment is adjusted through digital input, and the actual output magnetic moment is predicted in combination with temperature. However, the invention does not involve accurate measurement of the geomagnetic field, nor does it involve system control of the magnetometer and the magnetic torque device, and the beneficial effects on the satellite attitude and orbit control. The content of the invention is essentially different from that of the present application. SUMMARY

[0007] The technical solution of the present application is to overcome the shortcomings of the prior art and provide a high-precision magnetic torque controller control circuit capable of realizing cooperative control with a magnetometer.

[0008] The technical solution of the present application is to overcome the shortcomings of the prior art and provide a high-precision magnetic torque controller control circuit capable of realizing cooperative control with a magnetometer.

[0009] The technical solution of the present application is to overcome the shortcomings of the prior art and provide a high-precision magnetic torque controller control circuit capable of realizing cooperative control with a magnetometer.

[0010] The technical solution of the present application is to overcome the shortcomings of the prior art and provide a high-precision magnetic torque controller control circuit capable of realizing cooperative control with a magnetometer.

[0011] The technical solution of the present application is to overcome the shortcomings of the prior art and provide a high-precision magnetic torque controller control circuit capable of realizing cooperative control with a magnetometer.

[0012] The technical solution of the present application is to overcome the shortcomings of the prior art and provide a high-precision magnetic torque controller control circuit capable of realizing cooperative control with a magnetometer.

[0013] The technical solution of the present application is to overcome the shortcomings of the prior art and provide a high-precision magnetic torque controller control circuit capable of realizing cooperative control with a magnetometer.

[0014] The technical solution of the present application is to overcome the shortcomings of the prior art and provide a high-precision magnetic torque controller control circuit capable of realizing cooperative control with a magnetometer.

[0015] The technical solution of the present application is to overcome the shortcomings of the prior art and provide a high-precision magnetic torque controller control circuit capable of realizing cooperative control with a magnetometer.

[0016] The technical solution of the present application is to overcome the shortcomings of the prior art and provide a high-precision magnetic torque controller control circuit capable of realizing cooperative control with a magnetometer.

[0017] The magnetic torque quick-off signal is converted into a switch signal for driving the magnetic torque quick-off control module after being processed by the signal processing circuit.

[0018] Further, the magnetic torque main drive circuit module comprises a proportional integral circuit, a sawtooth wave circuit and a push-pull circuit.

[0019] The magnetic moment control signal output by the magnetic moment control signal output is an analog signal with a fixed voltage value output by the proportional integral circuit. After comparison with the sawtooth wave signal output by the sawtooth wave circuit, a pulse width modulation signal is output. The pulse width modulation signal is connected to the input end of the push-pull circuit. The push-pull circuit drives the magnetic torque according to the received pulse width modulation signal and the drive signal output by the magnetic torque quick-off control module.

[0020] Further, the magnetic torque main drive circuit module further comprises a signal detection circuit.

[0021] The output end of the push-pull circuit is connected to one end of the magnetic torque body, and the other end of the magnetic torque is connected to the ground. At the same time, the magnetic torque rod body is connected to the signal detection circuit to form a field excitation current detection signal as a feedback signal connected to the input end of the proportional integral circuit to constitute a closed-loop control of the field excitation current.

[0022] Further, the magnetic torque quick-off control module comprises a switch circuit and a quick-to-ground conduction circuit.

[0023] The switch circuit is connected to the ±12V power supply and receives the switch signal output by the cooperative control module to send a control level to the quick-to-ground conduction circuit. One end of the quick-to-ground conduction circuit is connected to the output end of the proportional integral circuit. At the same time, a drive signal is generated and sent to the push-pull circuit in the magnetic torque main drive circuit module to realize the quick-off or quick-stable drive of the magnetic torque.

[0024] Further, the switch circuit outputs a control signal for controlling the quick-to-ground conduction circuit after being turned on. The quick-to-ground conduction circuit is turned on to quickly connect the drive signal to the ground, and the voltage value is reduced to zero, so that the subsequent magnetic torque main drive circuit module cannot work, and the field excitation current is quickly reduced to zero.

[0025] Further, the magnetometer acquisition module comprises a field excitation circuit, a signal amplification circuit, a waveform detection circuit and an integral circuit.

[0026] The magnetometer on / off instruction is input into the excitation circuit, the excitation circuit controls whether the magnetometer works according to the instruction, when the magnetometer works, the excitation circuit outputs an excitation signal to the magnetometer, so that the magnetometer generates an alternating magnetic field, the magnetometer outputs a voltage signal, the voltage signal is connected to the signal amplification circuit, the voltage signal amplified by the signal amplification circuit is connected to the waveform detection circuit, the waveform detection circuit is used for detecting the phase of the voltage signal after amplification, the output end of the waveform detection circuit is connected to the integration circuit, the integration circuit integrates and amplifies the output signal of the waveform detection circuit, and finally outputs the collection signal reflecting the size and direction of the magnetic field.

[0027] Further, the magnetometer on / off signal is synchronized as the control signal of the magnetic torque device, and is cooperated through the cooperation control module, so that the magnetic field of the magnetic torque device is quickly zeroed when the magnetometer needs to measure, and the magnetometer can quickly and accurately measure the pure geomagnetic field.

[0028] Compared with the prior art, the present application has the following beneficial effects:

[0029] (1) The present application realizes the cooperative control of the magnetic torque device and the magnetometer, shortens the idle time slice under the condition that the driving element and the detection element are completely decoupled from the magnetic field, and thus greatly improves the detection efficiency and control stability of the super-static satellite.

[0030] (2) The present application can help the magnetic torque device and the magnetometer work better through the cooperative control of the magnetic torque device and the magnetometer, ensure the interval between measurement and control, and as much as possible reduce the space-time of measurement and control, so as to realize continuous and stable control to a greater extent, and thus better guarantee the high-precision and high-stability operation of the super-static satellite.

[0031] (3) Compared with the working mode of the existing magnetic torque device and magnetometer, the interval time between control and measurement of the present application can be accurately regulated: the existing control mode does not have a special module to dynamically adjust the time slice according to the driving current of the magnetic torque device, which may cause the influence of residual magnetism on the measurement accuracy, and if the interval time is long, the measurement and control will appear blank, and the satellite attitude and orbit control will be discontinuous and difficult to guarantee high precision. The present application dynamically adjusts the working time of the magnetic torque device and the magnetometer through the cooperative control module of the magnetic torque device and the magnetometer, so as to ensure that the driving magnetic field and the measurement magnetic field are not coupled, and provide the basic magnetic field conditions for rapid measurement and accurate and stable control.

[0032] (4) Compared with the existing magnetic torque meter and magnetometer circuit, the control and measurement of the magnetic field are completely decoupled: the existing working mode applies a delay through communication, realizes the interval work between the magnetic torque meter and the magnetometer, and often cannot measure the pure geomagnetic field due to the short interval time, the current of the magnetic torque meter control line not returning to zero, and the introduction of control input error. The magnetic torque meter fast on-off control module of the application uses the on-off signal instruction to pass through the on-off circuit to the ground on-circuit for control, makes the drive signal quickly connect to the ground, the voltage value drops to zero, the excitation current of the subsequent active drive module rapidly drops to zero, and a pure non-magnetic measurement environment is realized. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 It is a control circuit schematic diagram of the application;

[0034] Figure 2 It is a realization block diagram of the cooperative control module of the application;

[0035] Figure 3 It is a realization block diagram of the magnetic torque meter fast off control module of the application;

[0036] Figure 4 It is a realization block diagram of the magnetic torque meter main drive circuit module of the application;

[0037] Figure 5 It is a realization block diagram of the magnetometer acquisition module of the application. DETAILED DESCRIPTION

[0038] The specific embodiments of the application will be further described in detail below with reference to the accompanying drawings.

[0039] As shown in the drawings, Figure 1 the application proposes a high-precision magnetic torque meter control circuit capable of realizing cooperative control with a magnetometer, comprising: a cooperative control module, a magnetic torque meter fast off control module, a magnetic torque meter main drive circuit module, and a magnetometer acquisition module.

[0040] The cooperative control module, the magnetic torque meter fast off control module, the magnetic torque meter main drive circuit module, and the magnetometer acquisition module are all connected to the power bus for centralized power supply on the star, have the same power supply and ground wire, and are connected through communication lines.

[0041] The cooperative control module realizes real-time on-demand allocation of the magnetic torque meter and the magnetometer working time slice, controls the magnetic torque meter fast off control module to realize the rapid stabilization and zero return of the magnetic torque meter drive current, the magnetic torque meter main drive circuit module realizes the output magnetic moment adjustment of the magnetic torque meter under the control of the cooperative control module and the magnetic torque meter fast off control module, and the magnetometer acquisition module realizes the rapid real-time measurement of the spatial magnetic field strength and vector under the control of the cooperative control module.

[0042] As shown in Figure 2 , the cooperative control module includes a flip-flop and a signal processing circuit;

[0043] The flip-flop receives the magnetic torque device on command and the magnetometer on / off command sent by the general control host computer, and generates a magnetic torque device fast-off signal sent to the signal processing circuit, and the signal processing circuit generates a fast-off drive signal sent to the magnetic torque device fast-off control module;

[0044] At the same time, the magnetometer on / off command sent by the general control host computer is also transmitted to the magnetometer acquisition module to realize the measurement of the spatial magnetic field intensity and vector.

[0045] The magnetic torque device on command is always high, when the magnetometer works, the magnetometer on / off command is high, and the magnetic torque device fast-off signal is high, so that the magnetic torque device fast-off control module works;

[0046] When the magnetometer does not work, the magnetometer on / off command is low, and the magnetic torque device fast-off signal is low, so that the magnetic torque device fast-off control module does not work;

[0047] The magnetic torque device fast-off signal is converted into a switching signal for driving the magnetic torque device fast-off control module after the signal processing circuit.

[0048] As shown in Figure 4 , the magnetic torque device main drive circuit module includes a proportional integral circuit, a sawtooth wave circuit, a push-pull circuit, and a signal detection circuit;

[0049] The magnetic moment control signal output by the magnetic moment control signal output by the proportional integral circuit outputs an analog signal with a fixed voltage value, and the analog signal is compared with the sawtooth wave signal output by the sawtooth wave circuit to output a pulse width modulation signal. The pulse width modulation signal is connected to the input end of the push-pull circuit, and the push-pull circuit drives the magnetic torque device according to the received pulse width modulation signal and the drive signal output by the magnetic torque device fast-off control module.

[0050] The output end of the push-pull circuit is connected to one end of the magnetic torque device body, and the other end of the magnetic torque device is connected to the ground; at the same time, the magnetic torque device rod is connected to the signal detection circuit to form a field excitation current detection signal as a feedback signal connected to the input end of the proportional integral circuit to constitute a field excitation current closed loop control.

[0051] As shown in Figure 3 , the magnetic torque device fast-off control module includes a switching circuit and a fast ground conduction circuit;

[0052] The switch circuit is connected with a +12V power supply, receives a switch signal output by the cooperative control module, sends a control level to a fast ground conduction circuit, and one end of the fast ground conduction circuit is connected to an output end of a proportional-integral circuit; meanwhile, a driving signal is generated and sent to a push-pull circuit in a main driving circuit module of the magnetic torque device, so that the magnetic torque device is quickly turned off or quickly and stably driven.

[0053] The switch circuit outputs a control signal for controlling the fast ground conduction circuit after being turned on, the fast ground conduction circuit quickly connects the driving signal to the ground wire after being turned on, the voltage value is reduced to zero, the subsequent main driving circuit module of the magnetic torque device cannot work, and the excitation current is quickly reduced to zero.

[0054] As shown in Figure 5 , the magnetometer acquisition module comprises an excitation circuit, a signal amplification circuit, a waveform detection circuit and an integral circuit.

[0055] The magnetometer on / off instruction is input into the excitation circuit, the excitation circuit controls whether the magnetometer works according to the instruction, when the magnetometer works, the excitation circuit outputs an excitation signal to the magnetometer, so that the magnetometer generates an alternating magnetic field, the magnetometer outputs a voltage signal, the voltage signal is connected to the signal amplification circuit, the voltage signal amplified by the signal amplification circuit is connected to the waveform detection circuit, the waveform detection circuit is used to detect the phase of the amplified voltage signal, the output end of the waveform detection circuit is connected to the integral circuit, the integral circuit integrates and amplifies the output signal of the waveform detection circuit, and finally outputs an acquisition signal reflecting the size and direction of the magnetic field.

[0056] The magnetometer on / off signal is used as the control signal of the magnetic torque device synchronously, is cooperated through the cooperative control module, and ensures that the magnetic field of the magnetic torque device is quickly zero when the magnetometer needs to be measured, so that the magnetometer quickly and accurately measures the pure geomagnetic field.

[0057] Working principle

[0058] The working principle of the high-precision magnetic torque device control circuit capable of realizing cooperative control with the magnetometer provided by the application is as follows:

[0059] 1. Time slice is adjusted in real time according to needs: the magnetic torque device and the magnetometer of a conventional satellite work alternately according to preset time slices, and cannot be dynamically and real-timely adjusted. The magnetic torque device and the magnetometer cooperative control module is adopted to dynamically adjust the working time of the magnetic torque device and the magnetometer, so as to ensure that the driving magnetic field and the measuring magnetic field are not coupled, and to provide a basic magnetic field condition for fast measurement and accurate and stable control.

[0060] 2、Drive current fast stabilization and zero return: due to inductance effect, the conventional magnetic moment device often needs a long stabilization time to tend to be stable when turned on; due to freewheeling effect, it cannot return to zero in time when turned off, causing the existence of a gradually decaying transition state of the magnetic field, thereby affecting the magnetometer measurement accuracy in the time period. The application adopts a magnetic moment device fast on-off control module to conduct the instruction of the switching signal through a switching circuit, output to a ground conduction circuit, for controlling the conduction of the fast ground conduction circuit, so that the drive signal is quickly connected to the ground, the voltage value is reduced to zero, the excitation current of the subsequent active drive module is rapidly reduced to zero, and a pure and non-magnetic measurement environment is realized.

[0061] 3、Output magnetic moment accurate adjustment: the real-time performance of the conventional magnetic moment device line control signal is not high, and the inductive load of the line is large, causing output magnetic moment time lag, which is difficult to realize accurate calculation. The application drives the proportional integral circuit to output a fixed voltage value analog signal through a real-time magnetic moment control signal, compares it with the sawtooth wave signal output by the sawtooth wave circuit, generates a pulse width modulation signal as the input end of the push-pull circuit, and takes the excitation current signal of the signal detection circuit as the feedback to constitute a closed loop of excitation current. From the aspects of real-time accurate control input and stable fast closed loop, the accurate adjustment of the output magnetic moment is guaranteed.

[0062] 4、Fast real-time measurement of geomagnetic field: the conventional geomagnetic field measurement is often limited by the residual magnetism of the magnetic moment device, causing the geomagnetic field measurement of the magnetometer acquisition module to be inaccurate, and introducing source error to the subsequent magnetic moment device control and whole satellite attitude and orbit control. The application synchronizes the on / off signal of the magnetometer as the control signal of the magnetic moment device, cooperates through the magnetic moment device and magnetometer cooperative control module, ensures the fast start of measurement after the magnetic field of the magnetic moment device is zero, and can accurately measure the pure geomagnetic field, thereby providing accurate input for the subsequent control.

[0063] The part not described in detail in the application is the common knowledge of those skilled in the art.

Claims

1. A high-precision magnetic torque controller control circuit capable of realizing cooperative control with a magnetometer, characterized by The application relates to a satellite magnetic moment control system. The system comprises a cooperative control module, a magnetic momenter quick-off control module, a magnetic momenter main drive circuit module and a magnetometer acquisition module. The cooperative control module, the magnetic momenter quick-off control module, the magnetic momenter main drive circuit module and the magnetometer acquisition module are connected to a power bus for centralized power supply on the satellite, have the same power supply and ground wire and are connected through a communication line. The cooperative control module allocates the working time slices of the magnetic momenter and the magnetometer in real time, controls the magnetic momenter quick-off control module to realize quick and stable drive current and zero return of the magnetic momenter, controls the magnetic momenter main drive circuit module to realize output magnetic moment adjustment of the magnetic momenter under the control of the cooperative control module and the magnetic momenter quick-off control module, and controls the magnetometer acquisition module to realize quick and real-time measurement of the space magnetic field intensity and vector under the control of the cooperative control module. The cooperative control module comprises a flip-flop and a signal processing circuit. The flip-flop receives a magnetic momenter on command and a magnetometer on / off command sent by a general control upper computer, generates a magnetic momenter quick-off signal and sends the signal to the signal processing circuit, and the signal processing circuit generates a quick-off drive signal and sends the signal to the magnetic momenter quick-off control module. Meanwhile, the magnetometer on / off command sent by the general control upper computer is also transmitted to the magnetometer acquisition module to realize measurement of the space magnetic field intensity and vector. The magnetic momenter on command is always high, the magnetometer on / off command is high when the magnetometer works, the magnetic momenter quick-off signal is high, and the magnetic momenter quick-off control module works. When the magnetometer does not work, the magnetometer on / off command is low, the magnetic momenter quick-off signal is low, and the magnetic momenter quick-off control module does not work. The magnetic momenter quick-off signal is converted into a switch signal for driving the magnetic momenter quick-off control module after the signal processing circuit. The magnetic momenter quick-off control module comprises a switch circuit and a quick ground conduction circuit. The switch circuit is connected to a +12V power supply, receives a switch signal output by the cooperative control module, sends a control level to the quick ground conduction circuit, and one end of the quick ground conduction circuit is connected to an output end of a proportional integral circuit.

2. The high-precision magnetic torque apparatus control circuit capable of realizing cooperative control with a magnetometer according to claim 1, characterized in that: Meanwhile, a drive signal is generated and sent to a push-pull circuit in the magnetic momenter main drive circuit module to realize quick-off or quick and stable drive of the magnetic momenter. The magnetic momenter main drive circuit module comprises a proportional integral circuit, a sawtooth wave circuit and a push-pull circuit.

3. The high-precision magnetic torque apparatus control circuit capable of realizing cooperative control with a magnetometer according to claim 2, characterized in that: A magnetic moment control signal sent by the general control upper computer is output as an analog signal with a fixed voltage value through the proportional integral circuit, the analog signal is compared with a sawtooth wave signal output by the sawtooth wave circuit, a pulse width modulation signal is output, the pulse width modulation signal is connected to an input end of the push-pull circuit, and the push-pull circuit drives the magnetic momenter according to the received pulse width modulation signal and the drive signal output by the magnetic momenter quick-off control module. The magnetic momenter main drive circuit module further comprises a signal detection circuit. The output end of the push-pull circuit is connected with one end of the magnetic torque device body, and the other end of the magnetic torque device is connected with the ground; meanwhile, the magnetic torque device rod body is connected with the signal detection circuit to form a magnetic excitation current detection signal as a feedback signal connected with the input end of the proportional integral circuit to constitute a closed-loop control of the magnetic excitation current.

4. The high-precision magnetic torque apparatus control circuit capable of realizing cooperative control with a magnetometer according to claim 1, characterized in that: After the switch circuit is turned on, an output control signal for controlling the fast ground conduction circuit is output, the fast ground conduction circuit is turned on, the driving signal is quickly connected to the ground wire, the voltage value is reduced to zero, the subsequent magnetic torque device main driving line module cannot work, and the magnetic excitation current is rapidly reduced to zero.

5. The high-precision magnetic torque apparatus control circuit capable of realizing cooperative control with a magnetometer according to claim 1, characterized in that: The magnetometer acquisition module comprises a magnetic excitation circuit, a signal amplification circuit, a waveform detection circuit and an integral circuit. The magnetometer on / off instruction is input into the magnetic excitation circuit, the magnetic excitation circuit controls whether the magnetometer works according to the instruction, when the magnetometer works, the magnetic excitation circuit outputs a magnetic excitation signal to the magnetometer, so that the magnetometer generates an alternating magnetic field, the magnetometer outputs a voltage signal, the voltage signal is connected with the signal amplification circuit, the voltage signal amplified by the signal amplification circuit is connected with the waveform detection circuit, the waveform detection circuit is used for detecting the phase of the amplified voltage signal, the output end of the waveform detection circuit is connected with the integral circuit, the integral circuit integrates and amplifies the output signal of the waveform detection circuit, and finally outputs an acquisition signal reflecting the size and direction of the magnetic field.

6. The high-precision magnetic torque device control circuit capable of realizing cooperative control with a magnetometer according to claim 5, characterized in that: The magnetometer on / off signal is synchronized as the control signal of the magnetic torque device, and is cooperated through the cooperative control module to ensure that the magnetic field of the magnetic torque device is rapidly zero when the magnetometer needs to measure, so that the magnetometer can quickly and accurately measure the pure geomagnetic field.

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