Hall signal fault-tolerant compensation method for control moment gyroscope inner frame motor

Abstract

The invention discloses a Hall signal fault-tolerant compensation method for an inner frame motor of a control moment gyroscope. The Hall signal fault-tolerant compensation method comprises the following steps: respectively calculating three-phase Hall rotating speeds, U-phase Hall rotating speeds, V-phase Hall rotating speeds and W-phase Hall rotating speeds in real time; according to the selected Hall channel, outputting a three-phase real Hall signal in real time or outputting a three-phase compensation Hall signal based on U-phase / V-phase / W-phase Hall compensation; whether the current product state meets the Hall fault-tolerant compensation function starting condition or not is judged, if the current product state does not meet the starting condition, a three-phase real Hall channel is selected, if the current product state meets the starting condition, the three-phase real Hall channel is compared with a designed threshold range, and the abnormal / normal state of U-phase, V-phase and W-phase Hall is judged; reselecting the Hall channel according to the abnormal / normal state of the three-phase Hall and the Hall channel selected in the previous cycle; and performing closed-loop control by using the three-phase Hall signal generated in real time and the rotating speed calculated in real time. Under the condition that the moment gyroscope works in a steady state, when one phase / two phases of Hall signals in the three phases of Hall signals are abnormal, the inner frame motor can still perform normal closed-loop control, and the reliability of a product is improved.

Description

Technical Field

[0001] The invention relates to the field of inertial actuators of satellite attitude and orbit control systems, and in particular to a Hall signal fault-tolerant compensation method for controlling a moment gyro inner frame motor. Background Art

[0002] The control torque gyro consists of an inner frame motor and an outer frame system. It performs vector pointing control on the angular momentum of constant magnitude through the rotation of the outer frame, quickly exchanges angular momentum with the satellite, and realizes the functions of satellite attitude maneuvering and stability control. It has the advantages of large output torque, small mass, and low power consumption.

[0003] From the working principle of the controlled torque gyro, it can be seen that the constant speed rotation of the inner frame motor is the key to the constant angular momentum of the momentum wheel. The inner frame motor generally uses a DC brushless motor and adopts a conductive slip ring as the medium for power transmission. The transmitted three-phase Hall signal is used to realize motor speed measurement and sector judgment.

[0004] The conductive slip ring is a typical current-carrying wear part, which may have abnormal contact between the ring brush and even signal interruption during operation. Abnormal contact of the conductive slip ring may cause abnormal transmission of the Hall signal. The speed measurement and phase change strategy that relies on the three-phase Hall will fail when the transmission of any phase Hall signal is abnormal. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a method for compensating the Hall signal fault tolerance of the inner frame motor of the control moment gyro. When the control moment gyro product is working in a steady state, when one or two phases of the Hall signal are abnormal, the inner frame motor is still under normal closed-loop control. The specific scheme is as follows:

[0006] A Hall signal fault-tolerant compensation method for controlling a torque gyro inner frame motor comprises the following steps:

[0007] S1, assuming that the three-phase Hall is U phase, V phase, and W phase, and respectively calculate the four speeds of the three-phase real Hall speed, U phase Hall speed, V phase Hall speed, and W phase Hall speed in real time;

[0008] The three-phase Hall speed, U-phase Hall speed, V-phase Hall speed, and W-phase Hall speed are calculated independently;

[0009] The calculation results are used for the judgment of abnormal / normal three-phase Hall and closed-loop control;

[0010] The resolution of the speed calculated by single-phase Hall is three times that of the speed calculated by three-phase Hall.

[0011] The speed calculated by the three-phase Hall is obtained by counting the jumps of the six sectors composed of the three-phase Hall of the U phase, the V phase and the W phase. When the sector jumps once under the forward rotation condition of the inner frame motor, the counter is increased by 1, and the speed calculated by the three-phase Hall can be obtained according to the counter value;

[0012] The U-phase Hall speed, V-phase Hall speed, and W-phase Hall speed are obtained by counting the 0 / 1 state jump count of the Hall signal. When the single-phase Hall signal jumps under the forward rotation condition of the inner frame motor, the counter is increased by 3, and the speed calculated by the U-phase, V-phase, and W-phase Hall can be obtained according to the counter value;

[0013] S2. Determine whether the current product status meets the set conditions for starting the Hall fault tolerance compensation function:

[0014] If the start condition is not met, the Hall compensation function is not turned on, the three-phase real Hall channel is selected, and the process goes to step S5;

[0015] If the start condition is met, the Hall compensation function is turned on and the process goes to step S3;

[0016] S3, if the start condition is met, the speed calculated in real time in step S1 is compared with the designed speed threshold range to determine the abnormal / normal state of the U-phase, V-phase, and W-phase Hall respectively;

[0017] U phase, V phase, W phase, three single-phase Hall independently judge abnormal / normal status;

[0018] The speed threshold range includes a first speed threshold range and a second speed threshold range;

[0019] The first speed threshold range is equal to the speed command ±Δ1, and the second speed threshold range is equal to the speed command ±Δ2, wherein Δ1 and Δ2 are speed upper and lower floating values, and Δ2<Δ1;

[0020] Compare the single-phase Hall speed calculated in step S1 with the speed threshold range. If the Hall is normal in the previous cycle, compare it with the first speed threshold range this time. If the single-phase Hall speed calculated in real time at this time is within the first speed threshold range, the single-phase Hall is normal. If the calculated single-phase Hall speed is outside the first speed threshold range, the single-phase Hall is abnormal.

[0021] If the Hall sensor is abnormal in the previous cycle, it is compared with the second speed threshold range this time. If the single-phase Hall speed calculated in real time is within the second speed threshold range, the single-phase Hall sensor is normal. If the calculated single-phase Hall speed is outside the second speed threshold range, the single-phase Hall sensor is abnormal.

[0022] S4, reselecting the Hall channel according to the abnormal / normal state flag of the three-phase Hall and the Hall channel selected in the previous cycle;

[0023] The Hall channels include three-phase real Hall channels, three-phase compensated Hall channels compensated by V phase, three-phase compensated Hall channels compensated by U phase and three-phase compensated Hall channels compensated by W phase;

[0024] When the three-phase real Hall channel is selected in the previous cycle, the abnormal / normal state generated by step S3 is identified in sequence according to the three-phase real Hall-U phase-V phase-W phase, and the first normal state channel identified is selected in sequence; when the three-phase compensated Hall channel compensated by the U phase is selected in the previous cycle, the abnormal / normal state generated by step S3 is identified in sequence according to the U phase-V phase-W phase, and the first normal state channel identified is selected in sequence; when the three-phase compensated Hall channel compensated by the V phase is selected in the previous cycle, the abnormal / normal state generated by step S3 is identified in sequence according to the V phase-W phase-U phase, and the first normal state channel identified is selected in sequence; when the three-phase compensated Hall channel compensated by the W phase is selected in the previous cycle, the abnormal / normal state generated by step S3 is identified in sequence according to the W phase-U phase-V phase, and the first normal state channel identified is selected in sequence;

[0025] When the abnormal / normal states of the U-phase, V-phase, and W-phase Hall signals generated in step S3 are all abnormal, the product enters the gliding state. After gliding for more than 300 seconds, the three-phase real Hall signal is closed-loop, waiting for the Hall signal to recover or the remote control command to intervene.

[0026] S5. According to the selected Hall channel, the three-phase real Hall signal is output in real time, or the three-phase compensated Hall signal based on the U-phase Hall compensation is output, or the three-phase compensated Hall signal based on the V-phase Hall compensation is output, or the three-phase compensated Hall signal based on the W-phase Hall compensation is output;

[0027] The three-phase real Hall channel is selected by default at power-on; if the Hall channel reselected in step S4 is the three-phase real Hall channel, the three-phase real Hall signal is output in real time; if the Hall channel reselected in step S4 is the three-phase compensated Hall channel compensated by the U-phase, the three-phase compensated Hall signal based on the U-phase Hall compensation is output in real time; if the Hall channel reselected in step S4 is the three-phase compensated Hall channel compensated by the V-phase, the three-phase compensated Hall signal based on the V-phase Hall compensation is output in real time; if the Hall channel reselected in step S4 is the three-phase compensated Hall channel compensated by the W-phase, the three-phase compensated Hall signal based on the W-phase Hall compensation is output in real time;

[0028] The three-phase compensation Hall signal refers to the start counter used to calibrate the current time, and generate a single sector duration reference value according to the current working speed command. When the counter count value reaches the sector duration reference value, the sector is switched, that is, the three-phase compensation Hall signal state is switched, and the counter is cleared to 0. In addition, the three-phase compensation Hall signal state is corrected by the jump edge of the reference Hall signal. When the jump of the reference Hall signal is detected, the sector is forced to switch, and the counter is cleared to 0;

[0029] S6. Perform closed-loop control using the Hall signal output in real time in step S5 and the speed calculated in real time in step S1.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] When the torque gyro product is operating in a steady state, when one or two of the three-phase Hall signals are abnormal, the inner frame motor can still be closed-loop controlled normally, reducing the risk of abnormal control of the inner frame motor caused by abnormal Hall signal transmission and improving product reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions disclosed in the present invention, the following briefly introduces the drawings required to be used in some embodiments disclosed in the present invention. Obviously, the drawings described below are only drawings of some embodiments disclosed in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings. In addition, the drawings described below can be regarded as schematic diagrams, and are not limitations on the actual size of the products involved in the embodiments disclosed in the present invention, the actual process of the method, etc.

[0033] Figure 1 It is a schematic diagram of a Hall signal fault-tolerant compensation method for controlling a torque inner frame motor provided by the present invention.

[0034] Figure 2 It is a schematic diagram of a three-phase Hall signal generating module provided by the present invention.

[0035] Figure 3 It is a schematic diagram of implementing the start-up condition judgment module, the three-phase Hall abnormal / normal state judgment module, and the Hall channel selection module provided by the present invention. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0037] A Hall signal fault-tolerant compensation method for controlling a torque inner frame motor, such as Figure 1 As shown, the method specifically comprises the following steps:

[0038] S1, assuming that the three-phase Hall is U phase, V phase, and W phase, and respectively calculate the four speeds of the three-phase real Hall speed, U phase Hall speed, V phase Hall speed, and W phase Hall speed in real time;

[0039] S1-1, speed calculated based on three-phase Hall

[0040] The speed calculated by the three-phase Hall is obtained by counting the jumps of the six sectors composed of the three-phase Hall of the U phase, the V phase and the W phase; when the inner frame motor is in the forward rotation condition, when a sector jumps once, the counter is increased by 1, and the speed calculated by the three-phase Hall can be obtained according to the counter value;

[0041] S1-2, speed calculated based on single-phase Hall

[0042] The single-phase Hall speed includes the U-phase Hall speed, the V-phase Hall speed, and the W-phase Hall speed, which are obtained by counting the 0 / 1 state jump count of the Hall signal. Under the forward rotation condition of the inner frame motor, when the single-phase Hall signal jumps, it means that the inner frame motor has rotated through 3 sectors, and the counter is increased by 3. According to the counter value, the speed calculated by the U-phase, V-phase, and W-phase Hall can be obtained;

[0043] S2. Determine whether the current product status meets the set conditions for starting the Hall fault tolerance compensation function;

[0044] The activation condition of the Hall fault tolerance compensation function is that the inner frame motor is in a steady-speed working state and receives a function activation instruction sent by telemetry;

[0045] The speed command range of the inner frame motor in the steady-speed working state is 5500-6500rpm or 7000rpm-8000rpm;

[0046] If the start condition is not met, the Hall compensation function is not turned on, the three-phase real Hall channel is selected, and the process goes to step S5;

[0047] If the start condition is met, the Hall compensation function is turned on and the process goes to step S3;

[0048] S3, if the start condition is met, the speed calculated in real time in step S1 is compared with the designed speed threshold range to determine the abnormal / normal state of the U-phase, V-phase, and W-phase Hall respectively;

[0049] U phase, V phase, W phase, three single-phase Hall independently judge abnormal / normal status;

[0050] The speed threshold range includes a first speed threshold range and a second speed threshold range, as shown in the following table.

[0051]

[0052] The first speed threshold range is equal to the speed command ±Δ1, and the second speed threshold range is equal to the speed command ±Δ2, wherein Δ1 and Δ2 are speed upper and lower floating values, and Δ2<Δ1;

[0053] Compare the single-phase Hall speed calculated in step S1 with the speed threshold range. If the Hall is normal in the previous cycle, compare it with the first speed threshold range this time. If the single-phase Hall speed calculated in real time at this time is within the first speed threshold range, the single-phase Hall is normal. If the calculated single-phase Hall speed is outside the first speed threshold range, the single-phase Hall is abnormal.

[0054] If the Hall is abnormal in the previous cycle, it will be compared with the second speed threshold range this time. If the single-phase Hall speed calculated in real time is within the second speed threshold range, the single-phase Hall is normal. If the calculated single-phase Hall speed is outside the second speed threshold range, the single-phase Hall is abnormal.

[0055] S4, reselecting the Hall channel according to the abnormal / normal state flag of the three-phase Hall and the Hall channel selected in the previous cycle;

[0056] The Hall channels include three-phase real Hall channels, three-phase compensated Hall channels compensated by V phase, three-phase compensated Hall channels compensated by U phase and three-phase compensated Hall channels compensated by W phase;

[0057] S4-1. When the three-phase real Hall channel is selected in the previous cycle, the abnormal / normal state generated by step S3 is identified in sequence according to the three-phase real Hall-U phase-V phase-W phase, and the first normal state channel identified is selected in sequence; when the three-phase compensated Hall channel compensated by the U phase is selected in the previous cycle, the abnormal / normal state generated by step S3 is identified in sequence according to the U phase-V phase-W phase, and the first normal state channel identified is selected in sequence; when the three-phase compensated Hall channel compensated by the V phase is selected in the previous cycle, the abnormal / normal state generated by step S3 is identified in sequence according to the V phase-W phase-U phase, and the first normal state channel identified is selected in sequence; when the three-phase compensated Hall channel compensated by the W phase is selected in the previous cycle, the abnormal / normal state generated by step S3 is identified in sequence according to the W phase-U phase-V phase, and the first normal state channel identified is selected in sequence;

[0058] For example, when the three-phase real Hall channel is selected in the previous cycle, first identify whether the three-phase real Hall is normal. If step S3 determines that the three-phase real Hall is normal, then continue to select the three-phase real Hall. If step S3 determines that the three-phase real Hall is abnormal, then identify whether the U-phase Hall is normal. If step S3 determines that the U-phase Hall is normal, then select the three-phase compensated Hall channel compensated by the U-phase this time. If step S3 determines that the U-phase Hall is abnormal, then identify whether the V-phase Hall is normal, ..., and so on. The first normal state channel identified is selected in sequence;

[0059] S4-2, when step S3 determines that the abnormal / normal state of the U-phase, V-phase, and W-phase Hall signals are all abnormal, the product enters the gliding state. After gliding for more than 300 seconds, the three-phase real Hall signal is closed-loop, waiting for the Hall signal to recover or the remote control command to intervene;

[0060] The schematic diagram of the start-up condition judgment module, the three-phase Hall abnormal / normal state judgment module, and the Hall channel selection module is as follows: Figure 3 As shown, Figure 3 The status word description in is shown in the following table:

[0061]

[0062] S5. According to the selected Hall channel, the three-phase real Hall is output in real time, or the three-phase compensated Hall signal based on the U-phase Hall compensation is output, or the three-phase compensated Hall signal based on the V-phase Hall compensation is output, or the Hall signal output based on the three-phase compensated Hall signal output based on the W-phase Hall compensation is output, and the output Hall signal is used to realize closed-loop control;

[0063] If the selected Hall signal is a three-phase real Hall, the three-phase real Hall signal will be directly output;

[0064] If the selected Hall signal is a three-phase compensated Hall signal generated based on a single-phase Hall, the implementation diagram is as shown in the attached diagram. Figure 2 As shown, the generation steps are as follows:

[0065] (1) Set the single sector duration reference value, the calculation method is: Where Count ref is the reference value of sector duration, n ref Inner frame speed command (rpm), p is the number of pole pairs;

[0066] (2) Using a counter to count, when the counter count value reaches the sector duration reference value, according to the inherent order of the sectors, the current three-phase compensation Hall signal state is switched to the three-phase compensation Hall signal state corresponding to the next sector;

[0067] The corresponding relationship between the three-phase compensation Hall signal and the sector is as follows:

[0068]

[0069]

[0070] When the output Hall signal is a three-phase compensated Hall signal generated based on a unidirectional Hall, the transition edge of the reference phase Hall signal is detected. When the phase Hall signal switches edge, the sector number is forced to be updated and the counter is cleared.

[0071] S6. Perform closed-loop control using the Hall signal output in real time in step S5 and the speed calculated in real time in step S1.

[0072] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention using the above disclosed contents without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the contents of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A Hall signal fault-tolerant compensation method for controlling a torque gyro inner frame motor, characterized in that: The method comprises the following steps: S1, assuming that the three-phase Hall includes three single-phase Halls of U phase, V phase and W phase, and respectively calculate the four speeds of three-phase real Hall speed, U phase Hall speed, V phase Hall speed and W phase Hall speed in real time; S2. Determine whether the current product status meets the set conditions for starting the Hall fault tolerance compensation function: If the start condition is not met, the Hall compensation function is not turned on, and the three-phase real Hall channel is used to enter step S5; If the start condition is met, the Hall compensation function is turned on and the process goes to step S3; S3, if the start condition is met, the speed calculated in real time in step S1 is compared with the designed speed threshold range to determine the abnormal / normal state of the U-phase, V-phase, and W-phase Hall respectively; S4, reselecting the Hall channel according to the abnormal / normal state flag of the three-phase Hall and the Hall channel selected in the previous cycle; S5. According to the selected Hall channel, output the three-phase real Hall signal in real time or output the three-phase compensated Hall signal based on the U-phase / V-phase / W-phase Hall compensation; S6. Perform closed-loop control using the Hall signal output in real time in step S5 and the speed calculated in real time in step S1.

2. A Hall signal fault tolerance compensation method for controlling a torque gyro inner frame motor according to claim 1, characterized in that: The real-time calculation of the three-phase real Hall speed, U-phase Hall speed, V-phase Hall speed, and W-phase Hall speed in step S1 is an independent calculation; The calculation of the three-phase real Hall speed is obtained by counting the jumps of the six sectors composed of the three-phase Hall of the U phase, the V phase and the W phase; under the forward rotation condition of the inner frame motor, when a jump occurs in the sector, the counter is increased by 1, and the speed calculated by the three-phase Hall can be obtained according to the counter value; The U-phase Hall speed, V-phase Hall speed, and W-phase Hall speed are obtained by counting the 0 / 1 state jump counts of the Hall signal. Under the forward rotation condition of the inner frame motor, when the single-phase Hall signal jumps, the counter is increased by 3, and the speeds calculated by the U-phase, V-phase, and W-phase Hall can be obtained according to the counter value.

3. The Hall signal fault tolerance compensation method for controlling the inner frame motor of a torque gyro according to claim 1, characterized in that: The three-phase compensation Hall signal based on U-phase / V-phase / W-phase Hall compensation refers to turning on a counter to calibrate the current time, generating a single-sector duration reference value according to the current working speed command, and when the counter count value reaches the sector duration reference value, performing sector switching, that is, switching the three-phase compensation Hall signal state, and clearing the counter to 0. In addition, the three-phase compensation Hall signal state is corrected using the jump edge of the reference Hall signal. When a jump of the reference Hall signal is detected, sector switching is forced and the counter is cleared to 0.

4. The Hall signal fault tolerance compensation method for controlling the inner frame motor of a torque gyro according to claim 1, characterized in that: The speed threshold range in step S3 includes a first speed threshold range and a second speed threshold range; the first speed threshold range is equal to the speed command ±Δ1, and the second speed threshold range is equal to the speed command ±Δ2, where Δ1 and Δ2 are upper and lower speed floating values, and Δ2<Δ1.

5. The Hall signal fault tolerance compensation method for controlling the inner frame motor of a torque gyro according to claim 1, characterized in that: The single-phase Hall speed calculated in step S1 is compared with the speed threshold range. If the Hall is normal in the previous cycle, it is compared with the first speed threshold range this time. If the single-phase Hall speed calculated in real time at this time is within the first speed threshold range, the single-phase Hall is normal. If the calculated single-phase Hall speed is outside the first speed threshold range, the single-phase Hall is abnormal. If the Hall is abnormal in the previous cycle, it will be compared with the second speed threshold range this time. If the single-phase Hall speed calculated in real time is within the second speed threshold range, the single-phase Hall is normal. If the calculated single-phase Hall speed is outside the second speed threshold range, the single-phase Hall is abnormal.

6. The Hall signal fault tolerance compensation method for controlling the inner frame motor of a torque gyro according to claim 1, characterized in that: In step S4, when the three-phase real Hall channel is selected in the previous cycle, the abnormal / normal state generated in step S3 is identified in sequence according to the three-phase real Hall-U phase-V phase-W phase, and the first normal state channel identified is selected in sequence.

7. The Hall signal fault tolerance compensation method for controlling the inner frame motor of a torque gyro according to claim 1, characterized in that: In step S4, when the three-phase compensation Hall channel compensated by the U phase is selected in the previous cycle, the abnormal / normal state generated by step S3 is identified in sequence of U phase-V phase-W phase, and the first normal state channel identified is selected in sequence.

8. The Hall signal fault tolerance compensation method for controlling the inner frame motor of a torque gyro according to claim 1, characterized in that: In step S4, when the three-phase compensation Hall channel compensated by the V phase is selected in the previous cycle, the abnormal / normal state generated by step S3 is identified in sequence of V phase-W phase-U phase, and the first normal state channel identified is selected in sequence.

9. The Hall signal fault tolerance compensation method for controlling the inner frame motor of a torque gyro according to claim 1, characterized in that: In step S4, when the three-phase compensated Hall channel compensated by the W phase is selected in the previous cycle, the abnormal / normal state generated by step S3 is identified in sequence of W phase-U phase-V phase, and the first normal state channel identified is selected in sequence.

10. The Hall signal fault tolerance compensation method for controlling the inner frame motor of a torque gyro according to claim 1, characterized in that: In step S4, when the abnormal / normal status of the U-phase, V-phase, and W-phase Hall are all abnormal, the product enters the gliding state. After gliding for more than 300s, the three-phase real Hall signal is closed-loop, waiting for the Hall signal to recover or the remote control command to intervene.

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