On-orbit high-reliability calibration wheel motor control method and satellite-borne software

Abstract

The invention relates to an on-orbit high-reliability calibration wheel motor control method and satellite-borne software, belongs to the technical field of satellite platforms and satellite-borne software, and solves the problems that a calibration wheel can be reliably and accurately replaced to a target position every time within a task period of a remote sensing instrument and the service life requirement of a calibration wheel motor is met. The control method specifically comprises the following steps: quantifying the positions of hole sites and magnetic steel on two Hall sensors and a calibration wheel; obtaining a target position and a correction step number of the calibration wheel; if the current position of the calibration wheel is unknown or the target position is a positioning hole position, two Hall sensors which are hot backups for each other are used for searching zero, then the final motor step number is calculated according to the current position and the target position, the calibration wheel motor is controlled to sequentially rotate by the final motor step number, the step number is corrected, and then rotation is stopped; and the satellite-borne software records the current position of the calibration wheel and downloads related telemetry data. The position conversion accuracy of the calibration wheel can be guaranteed, and meanwhile the service life of the calibration wheel motor is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite platform and satellite-borne software, and in particular to an on-orbit high-reliability calibration wheel motor control method and satellite-borne software. Background Art

[0002] The calibration wheel motor (hereinafter referred to as the motor), calibration wheel and disc are carried on the satellite platform with the remote sensing instrument to perform continuous detection tasks of the atmosphere, the sun and other targets. As part of the optical system, the diffuse transmission plate, through hole and other positions on the calibration wheel need to be changed according to the on-orbit working mode of the remote sensing instrument. If the calibration wheel position conversion is inaccurate or wrong, it will cause abnormal remote sensing data, and then lead to the failure of this detection mission.

[0003] At present, the general practice of calibration wheel motor control is:

[0004] 1. When the satellite software uses the Hall sensor to find the home position, the first Hall sensor and the second Hall sensor are cold backups for each other. By default, the first Hall sensor or the second Hall sensor is used for home positioning. If the first Hall sensor or the second Hall sensor fails, the ground injection method is used to change to the second Hall sensor or the first Hall sensor for home positioning.

[0005] 2. Every time the calibration wheel changes position, the satellite-borne software controls the motor to rotate one circle to find the Hall sensor to achieve zero positioning;

[0006] 3. After the satellite-borne software has zeroed and positioned the device, the motor is controlled to rotate in a fixed direction (clockwise or counterclockwise) to rotate the calibration wheel to the target position;

[0007] 4. After the calibration wheel motor has completed the calculated final number of steps, it will no longer rotate to correct the number of steps.

[0008] Since the life of remote sensing instruments is generally long, such as the life of FY-3(05) satellite is 8 years, and the detection frequency is high, that is, the calibration wheel position conversion frequency is high, while the motor life is fixed, this requires that the calibration wheel motor rotates as few steps and times as possible each time the calibration wheel realizes position conversion, otherwise the calibration wheel position conversion will be inaccurate due to the motor reaching the end of its life; the Hall sensor may fail in orbit, which will cause calibration wheel position conversion errors; the motor may lose steps when rotating in orbit, resulting in inaccurate calibration wheel position conversion; the above reasons will cause abnormal remote sensing data and thus lead to the failure of this detection mission.

[0009] Therefore, the disadvantages of the general approach to the above calibration wheel motor control are:

[0010] 1. If the first Hall sensor or the second Hall sensor fails, the detection task will fail;

[0011] 2. The calibration wheel seeks zero each time it changes position, which increases the rotation times and steps of the calibration wheel motor and reduces the life of the calibration wheel motor;

[0012] 3. The rotation stroke of the calibration wheel motor is not the shortest, which greatly reduces the life of the calibration wheel motor;

[0013] 4. If the calibration wheel motor loses steps due to unpredictable reasons, and the number of steps is not corrected for correction, it may cause inaccurate target position conversion, which in turn may cause partial abnormality of remote sensing data.

[0014] Therefore, under the conditions that the Hall sensor of the remote sensing instrument may fail at any time, the remote sensing instrument has a long life but the calibration wheel motor has a certain life, and the calibration wheel position changes frequently, how to ensure that the calibration wheel can be reliably and accurately replaced to the target position every time during the remote sensing instrument mission cycle and meet the calibration wheel motor life requirements becomes a difficult problem. Summary of the invention

[0015] In order to solve the technical problems existing in the general control method of the calibration wheel motor in the prior art, the present invention provides an on-orbit highly reliable calibration wheel motor control method and satellite-borne software.

[0016] In order to solve the above technical problems, the technical solutions adopted by the present invention are as follows:

[0017] A highly reliable on-orbit calibration wheel motor control method comprises the following steps:

[0018] Step 1: quantify the position of each hole and magnetic steel according to the number of evenly distributed holes on the calibration wheel and the position of the magnetic steel, and obtain the position value of each hole and magnetic steel on the calibration wheel;

[0019] Step 2: According to the preset zeroing rotation direction of the calibration wheel and the position value of the magnetic steel in step 1, the positions of the first Hall sensor and the second Hall sensor on the disk which are hot backups for each other are quantified to obtain the position values ​​of the first Hall sensor and the second Hall sensor respectively;

[0020] Step 3: Obtain the step angle of the calibration wheel motor, the target position of the calibration wheel, and the number of correction steps, and calculate the number of steps required for the calibration wheel motor to rotate one circle according to the step angle;

[0021] Step 4: Determine whether the current position of the calibration wheel is unknown or whether the target position of the calibration wheel is a positioning hole position, wherein the positioning hole position is the hole position with the lowest frequency of use among all the hole positions on the calibration wheel. If so, execute step 5, otherwise execute step 6;

[0022] Step 5: The satellite-borne software sends the number of steps required for the calibration wheel motor to rotate one circle, the rotation direction of the calibration wheel motor and the zeroing command to the FPGA software. The FPGA software controls the calibration wheel motor to rotate and searches for the Hall sensor, that is, performs the zeroing process. If the zeroing is successful, the FPGA software controls the calibration wheel motor to stop rotating immediately and executes step 6; if the zeroing fails, the FPGA software controls the calibration wheel motor to stop rotating immediately and executes step 9.

[0023] Step 6: If the target position is greater than the current position, the target position is subtracted from the current position, and the ratio of the difference to the step angle is used as the first motor step number, and it is determined whether the first motor step number is less than or equal to the number of steps required for the calibration wheel motor to rotate half a circle. If so, the first motor step number is used as the final calculated second motor step number, and the rotation direction of the calibration wheel motor is counterclockwise at this time; otherwise, the difference between the number of steps required for the calibration wheel motor to rotate one circle and the first motor step number is used as the final calculated second motor step number, and the rotation direction of the calibration wheel motor is clockwise at this time;

[0024] If the target position is less than the current position of the calibration wheel, the current position is subtracted from the target position, and the ratio of the difference to the step angle is used as the first motor step number, and it is determined whether the first motor step number is less than or equal to the number of steps required for the calibration wheel motor to rotate half a circle. If so, the first motor step number is used as the final calculated second motor step number, and the rotation direction of the calibration wheel motor is clockwise at this time; otherwise, the difference between the number of steps required for the calibration wheel motor to rotate one circle and the first motor step number is used as the final calculated second motor step number, and the rotation direction of the calibration wheel motor is counterclockwise at this time;

[0025] Step 7: The satellite-borne software sends the second motor step number and the corresponding calibration wheel motor rotation direction to the FPGA software. The FPGA software controls the calibration wheel motor to stop rotating only after rotating the step number, and receives the first calibration wheel motor rotation completion flag sent by the FPGA software.

[0026] Step 8: The satellite-borne software sends the correction step number to the FPGA software, and the FPGA software controls the calibration wheel motor to stop rotating only after rotating the correction step number, and receives the second calibration wheel motor rotation completion flag sent by the FPGA software;

[0027] Step 9: The onboard software records the current position of the calibration wheel and downloads relevant telemetry data.

[0028] Correspondingly, the present invention also proposes a satellite-borne software for executing the above-mentioned on-orbit high-reliability calibration wheel motor control method.

[0029] The on-orbit high-reliability calibration wheel motor control method and on-board software of the present invention have the following beneficial effects:

[0030] (1) The first Hall sensor and the second Hall sensor are set as hot backup for each other. If the first Hall sensor or the second Hall sensor fails, the zeroing can still be successfully performed to ensure the correct position conversion of the calibration wheel, and the failure of the detection task will not be caused by the failure of a Hall sensor;

[0031] (2) The homing process is performed only when the current position is unknown or the target position is the least frequently used positioning hole position, which reduces the number of rotations and rotation steps of the calibration wheel motor; the homing operation is performed when the target position is the least frequently used positioning hole position, which further reduces the probability of inaccurate target position conversion caused by long-term non-homing positioning and motor step loss after startup;

[0032] (3) By controlling the calibration wheel motor to rotate clockwise or counterclockwise, the calibration wheel motor can achieve the minimum number of rotation steps, thereby minimizing the number of rotation steps of the calibration wheel motor and saving the life of the calibration wheel motor;

[0033] (4) Even if the calibration wheel motor loses steps due to unpredictable reasons, the target position conversion can be accurately guaranteed by using the correction step number. Abnormal remote sensing data of part of the detection mission will not be caused by the calibration wheel motor losing steps, thus ensuring the accuracy of the calibration wheel position conversion. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the structure of the calibration wheel motor, calibration wheel and disc;

[0035] Figure 2 This is the control principle block diagram of the calibration wheel motor;

[0036] Figure 3 This is the control flow chart of the calibration wheel motor.

[0037] Description of reference numerals:

[0038] 1. Calibration wheel motor; 1-1. Calibration wheel motor rotor;

[0039] 2. Calibration wheel; 2-1. Through hole; 2-2. First diffuse transmission plate; 2-3. Blind plate; 2-4. Second diffuse transmission plate; 2-5. Magnetic steel;

[0040] 3. Disk; 3-1. Light hole; 3-2. First Hall sensor; 3-3. Second Hall sensor. DETAILED DESCRIPTION

[0041] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0042] Figure 1The schematic diagram of the structure of the calibration wheel motor 1, the calibration wheel 2 and the disc 3 is shown in FIG. 1 , wherein a plurality of holes are evenly distributed on the calibration wheel 2, and the arrangement and number of the holes are determined according to the specific detection task of the remote sensing instrument. Figure 1 Take the calibration wheel 2 with four holes evenly distributed and arranged clockwise as the through hole 2-1, the first diffuse transmission plate 2-2, the blind plate 2-3, and the second diffuse transmission plate 2-4 as an example. The magnetic steel 2-5 matched with the first Hall sensor 3-2 and the second Hall sensor 3-3 is located on the back side of the calibration wheel 2 and between the first diffuse transmission plate 2-2 and the blind plate 2-3. The calibration wheel 2 is fixed on the calibration wheel motor rotor 1-1 and can rotate with the rotor. The through hole 3-1, the first Hall sensor 3-2 and the second Hall sensor 3-3 are located on the disc 3, and the disc 3 is fixed. The calibration wheel motor 1 is supported and fixed by a mechanical structure. The position conversion of the calibration wheel 2 refers to whether the calibration wheel 2 successfully and accurately moves the target position to the front of the through hole 3-1.

[0043] Figure 2 This is a control principle block diagram of the calibration wheel motor. The satellite platform is responsible for receiving the telemetry data sent by the satellite software, and sending the target position and correction step number of the calibration wheel 2 (where the correction step number includes the correction direction); the satellite software is responsible for receiving the parameters (the target position and correction step number of the calibration wheel 2) sent by the satellite platform, sending the rotation step number, rotation direction and homing command of the calibration wheel motor 1 to the FPGA software, and receiving the Hall sensor status (including the status of the first Hall sensor 3-2 and the second Hall sensor 3-3) and the calibration wheel motor rotation completion flag (including the first calibration wheel motor rotation completion flag and the second calibration wheel motor rotation completion flag) sent by the FPGA software; the FPGA software not only receives the commands and parameters of the satellite software, but also collects the status signals of the first Hall sensor 3-2 and the second Hall sensor 3-3 (the low level represents that the Hall sensor is valid), and outputs the calibration wheel motor control signal to the calibration wheel motor 1, and finally realizes the position conversion of the calibration wheel 2.

[0044] like Figure 3 As shown, this embodiment provides a highly reliable on-orbit calibration wheel motor control method, the method comprising the following steps:

[0045] Step 1: Initialize the positions of the holes on the calibration wheel 2 and the magnets 2-5.

[0046] Specifically, the satellite-borne software quantifies the position of each hole and the magnetic steel 2 - 5 according to the number of holes evenly distributed on the calibration wheel 2 and the position of the magnetic steel 2 - 5 , and obtains the position value of each hole and the magnetic steel 2 - 5 on the calibration wheel 2 .

[0047] This embodiment uses Figure 1The calibration wheel 2 shown has 4 holes evenly distributed, including the magnetic steel 2-5, and is taken as an example in clockwise direction as through hole 2-1, first diffuse transmission plate 2-2, magnetic steel 2-5, blind plate 2-3, and second diffuse transmission plate 2-4. The quantified values ​​of the positions of each hole and magnetic steel 2-5 satisfy the relative position relationship between the hole and the magnetic steel 2-5. After quantifying the positions of each hole and magnetic steel 2-5, the specific position values ​​of each hole and magnetic steel 2-5 are obtained as follows: through hole 2-1 is 360°, first diffuse transmission plate 2-2 is 90°, magnetic steel 2-5 is 135°, blind plate 2-3 is 180°, and second diffuse transmission plate 2-4 is 270°.

[0048] Step 2: Initialize the positions of the first Hall sensor 3 - 2 and the second Hall sensor 3 - 3 .

[0049] Specifically, according to the preset calibration wheel zeroing rotation direction and the positions of the magnet 2-5 (located on the calibration wheel 2), the first Hall sensor 3-2 and the second Hall sensor 3-3 (located on the disc 3), the positions of the first Hall sensor 3-2 and the second Hall sensor 3-3 are quantified, and the position values ​​of the first Hall sensor 3-2 and the second Hall sensor 3-3 are obtained after quantification. For example, the position value of the first Hall sensor 3-2 is 117°, and the position value of the second Hall sensor 3-3 is 324°. The preset calibration wheel zeroing rotation direction can be counterclockwise or clockwise. In order to better illustrate the content of this solution, this embodiment only takes the preset calibration wheel zeroing rotation direction as clockwise as an example for explanation.

[0050] In this embodiment, the first Hall sensor 3 - 2 and the second Hall sensor 3 - 3 serve as backup for each other and are hot standby.

[0051] Step 3: Obtain the step angle of the calibration wheel motor 1 and the target position and correction number of steps of the calibration wheel 2, and calculate the number of steps required for the calibration wheel motor 1 to rotate one circle according to the step angle.

[0052] The specific value of the step angle varies according to the motor model and the control method. For example, in this embodiment, the step angle is set to 0.9°. The number of steps required for the calibration wheel motor 1 to rotate one circle can be calculated based on the step angle. For example, when the step angle is set to 0.9°, the number of steps required for the calibration wheel motor 1 to rotate one circle is 360° / 0.9°=400 steps.

[0053] The onboard software can determine the target position and correction steps of the calibration wheel 2 (where the correction steps include the correction direction) in two ways. The first way is to obtain the target position and correction steps of the calibration wheel 2 by injecting data sent by the satellite platform; the second way is to determine the target position and correction steps of the calibration wheel 2 according to the default parameters related to the working mode of the onboard software.

[0054] Step 4: Determine whether the current position of the calibration wheel 2 is unknown (i.e., initial power-on) or whether the target position of the calibration wheel 2 is a positioning hole position. The positioning hole position can be any one of all the hole positions on the calibration wheel 2. However, the general principle for selecting the positioning hole position is that the hole position with the lowest frequency of use is selected. Figure 1 Taking the calibration wheel 2 as an example, the first diffuse transmission plate 2-2 is selected as the positioning hole. If the current position of the calibration wheel 2 is unknown (ie, initially powered on) or the target position of the calibration wheel 2 is the positioning hole, step five is executed, otherwise step six is ​​executed.

[0055] Step 5: The satellite-borne software sends the number of steps required for the calibration wheel motor 1 to rotate one circle, the rotation direction of the calibration wheel motor 1, and the homing command to the FPGA software. The FPGA software controls the calibration wheel motor 1 to rotate in order to find the Hall sensor. This process is also called the homing process to achieve initial positioning. If the homing is successful, the FPGA software controls the calibration wheel motor 1 to stop rotating immediately, and then executes step 6; if the homing fails, the FPGA software controls the calibration wheel motor 1 to stop rotating immediately, and then executes step 9. The homing direction of the calibration wheel motor 1 can be counterclockwise or clockwise. The two homing directions only affect the quantitative values ​​of the positions of the two Hall sensors. In principle, the homing direction can be changed by data injection. To facilitate the explanation of the relevant content, this step only takes the clockwise homing as an example for explanation.

[0056] Since the first Hall sensor 3-2 and the second Hall sensor 3-3 are in hot backup state, no specific Hall sensor is designated for zeroing. If any Hall sensor is valid, the zeroing is successful, that is, if a Hall sensor is encountered during the zeroing process, the zeroing is successful. Therefore, during the zeroing process, if the first Hall sensor 3-2 or the second Hall sensor 3-3 is valid, the zeroing is successful, and the FPGA software immediately controls the calibration wheel motor 1 to stop rotating, and the FPGA software sends the Hall sensor status to the satellite software. The satellite software records the current position of the calibration wheel 2 as the position of the valid Hall sensor, and then executes step six; if the calibration wheel motor 1 rotates one circle in the rotation direction, for example, after the calibration wheel motor 1 rotates 400 steps clockwise, the first Hall sensor 3-2 and the second Hall sensor 3-3 are both invalid, then the zeroing fails, and the FPGA software immediately controls the calibration wheel motor 1 to stop rotating, and sends the Hall sensor status to the satellite software. The satellite software records the current position of the calibration wheel 2 as "invalid", and then executes step nine.

[0057] In this embodiment, the homing process needs to be performed only when the current position is unknown (i.e., initial power-on) or the target position of the calibration wheel 2 is the positioning hole position (such as the first diffuse transmission plate 2-2), and no homing process is required in other cases. The homing process is performed under limited conditions, rather than homing the calibration wheel 2 every time the position is changed, which greatly reduces the number of rotations and steps of the calibration wheel motor 1, and also reduces the probability of inaccurate target position conversion due to long-term non-homing positioning and motor step loss after startup.

[0058] Step 6: If the target position (such as through hole 2-1) is greater than the current position (such as the first Hall sensor 3-2), the satellite-borne software calculates the first motor step number of the calibration wheel 2 according to the target position and the current position, and the calculation method is: (target position-current position) / step angle, that is, (360°-117°) / 0.9°=270 steps (if it cannot be divided evenly, it is rounded up and taken as an integer); Next, it is determined whether the first motor step number is less than or equal to the number of steps required for the calibration wheel motor 1 to rotate half a circle. At this time, the calculated first motor step number is greater than 200 steps (the number of steps corresponding to half a circle), then the second motor step number finally calculated by the satellite-borne software is the difference between the number of steps required for the calibration wheel motor 1 to rotate one circle and the number of steps of the first motor, that is, 400 steps-270 steps=130 steps, and the rotation direction of the calibration wheel motor 1 is clockwise at this time;

[0059] If the target position (such as the second diffuse transmission plate 2-4) is greater than the current position (such as the blind plate 2-3), the satellite-borne software calculates the number of steps of the first motor of the calibration wheel 2 according to the target position and the current position, and the calculation method is: (target position-current position) / step angle, that is, (270°-180°) / 0.9°=100 steps (if it cannot be divided evenly, it is rounded up and taken as an integer); next, it is determined whether the number of steps of the first motor is less than or equal to the number of steps required for the calibration wheel motor 1 to rotate half a circle. At this time, the calculated number of steps of the first motor is less than 200 steps (the number of steps corresponding to half a circle), then the number of steps of the second motor finally calculated by the satellite-borne software is equal to the number of steps of the first motor, and the rotation direction of the calibration wheel motor 1 is counterclockwise at this time;

[0060] If the target position (such as the blind plate 2-3) is smaller than the current position (such as the second diffuse transmission plate 2-4), the satellite-borne software calculates the number of steps of the first motor according to the current position and the target position, and the calculation method is: (current position-target position) / step angle, that is, (270°-180°) / 0.9°=100 steps (if it cannot be divided evenly, it is rounded up and taken as an integer); next, it is determined whether the number of steps of the first motor is less than or equal to the number of steps required for the calibration wheel motor 1 to rotate half a circle. At this time, the calculated number of steps of the first motor is less than 200 steps (the number of steps corresponding to half a circle), then the number of steps of the second motor finally calculated by the satellite-borne software is equal to the number of steps of the first motor, and the rotation direction of the calibration wheel motor 1 is clockwise at this time;

[0061] If the target position (such as the first diffuse transmission plate 2-2) is smaller than the current position (such as the second Hall sensor 3-3), the satellite-borne software calculates the number of steps of the first motor according to the current position and the target position, and the calculation method is: (current position-target position) / step angle, that is, (324°-90°) / 0.9°=260 steps (if it cannot be divided evenly, it is rounded up); next, it is determined whether the number of steps of the first motor is less than or equal to the number of steps required for the calibration wheel motor 1 to rotate half a circle. At this time, the calculated number of steps of the first motor is greater than 200 steps (the number of steps corresponding to half a circle), then the number of steps of the second motor finally calculated by the satellite-borne software is the difference between the number of steps required for the calibration wheel motor 1 to rotate one circle and the number of steps of the first motor, that is, 400 steps-260 steps=140 steps, and the rotation direction of the calibration wheel motor 1 is counterclockwise at this time.

[0062] When calculating the final second motor step number of the calibration wheel motor 1 in this embodiment, the calibration wheel motor 1 rotates in the least number of steps by adjusting the clockwise and counterclockwise rotation directions, thereby saving the life of the calibration wheel motor 1.

[0063] Step 7: The onboard software sends the final calculated number of steps of the second motor and the corresponding rotation direction of the calibration wheel motor to the FPGA software, and the FPGA software controls the calibration wheel motor 1 to rotate the number of steps. In this process, only after the final calculated number of steps of the second motor is completed, the FPGA software controls the calibration wheel motor 1 to stop rotating, and sends the first calibration wheel motor rotation completion mark to the onboard software; if the first Hall sensor 3-2 or the second Hall sensor 3-3 is valid during this period, the FPGA software does not control the calibration wheel motor 1 to stop rotating, but sends the Hall sensor status to the onboard software.

[0064] Step 8: The satellite-borne software sends the correction step number to the FPGA software, and the FPGA software controls the calibration wheel motor 1 to rotate the correction step number. In this process, only after the correction step number is completed, the FPGA software controls the calibration wheel motor 1 to stop rotating, and sends the second calibration wheel motor rotation completion mark to the satellite-borne software; if the first Hall sensor 3-2 or the second Hall sensor 3-3 is valid during this period, the FPGA software does not control the calibration wheel motor 1 to stop rotating, but sends the Hall sensor status to the satellite-borne software.

[0065] In this embodiment, after the second motor has completed its rotation steps, the correction steps are rotated for correction. Even if the calibration wheel motor 1 loses steps due to unpredictable reasons, the target position conversion can be guaranteed to be accurate and will not cause abnormal remote sensing data in the detection task.

[0066] Step 9: The onboard software records the current position of calibration wheel 2 and downloads relevant telemetry data.

[0067] The present embodiment provides a highly reliable on-orbit calibration wheel motor control method, which is a method that ensures successful and accurate position conversion of the calibration wheel of a remote sensing instrument under limited fault conditions on-orbit, and the process has high reliability while saving the life of the calibration wheel motor. Limited faults include: the motor loses steps due to unpredictable reasons; one of the Hall sensors fails. The corresponding solutions adopted by the method of this embodiment are: correction using the correction step number; the two Hall sensors serve as hot backups for each other during the zeroing process, that is, if one of the Hall sensors is valid, the zeroing is successful. The above measures are all conducive to the remote sensing instrument to successfully complete the detection task.

[0068] Another embodiment of the present invention further proposes a satellite-borne software that can be run on a space remote sensing instrument such as a solar remote sensing instrument. The satellite-borne software is used to execute the on-orbit high-reliability calibration wheel motor control method described in the above embodiment to control the rotation mode of the calibration wheel motor and record the current position of the calibration wheel motor and downlink related telemetry data. The specific steps of the on-orbit high-reliability calibration wheel motor control method can be found in the above embodiment and will not be repeated here.

[0069] The invention provides a highly reliable on-orbit calibration wheel motor control method and satellite-borne software, which ensures that the remote sensing instrument successfully and accurately completes the calibration wheel position conversion task under limited fault conditions on-orbit. When one of the Hall sensors fails, another Hall sensor can be used for zeroing and positioning, which does not affect the success of this zeroing process; when the calibration wheel motor loses steps due to unpredictable reasons, the calibration wheel can still accurately complete the position conversion by correcting the number of steps; the zeroing process is performed under limited conditions, and the method of controlling the calibration wheel motor to rotate clockwise and counterclockwise is flexibly used to minimize the number of steps of a single rotation of the calibration wheel motor, thereby reducing the number of rotations and steps of the calibration wheel motor and saving the life of the calibration wheel motor.

[0070] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0071] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A highly reliable on-orbit calibration wheel motor control method, characterized in that: The following steps are involved: Step 1: quantifying the position of each hole and magnetic steel (2-5) according to the number of holes evenly distributed on the calibration wheel (2) and the position of the magnetic steel (2-5), and obtaining the position value of each hole and magnetic steel (2-5) on the calibration wheel (2); Step 2: according to the preset zeroing rotation direction of the calibration wheel and the position value of the magnetic steel (2-5) in step 1, the positions of the first Hall sensor (3-2) and the second Hall sensor (3-3) on the disk (3) which serve as hot backup for each other are quantified to obtain the position values ​​of the first Hall sensor (3-2) and the second Hall sensor (3-3) respectively; Step 3: Obtain the step angle of the calibration wheel motor (1) and the target position and correction step number of the calibration wheel (2), and calculate the number of steps required for the calibration wheel motor (1) to rotate one circle according to the step angle; Step 4: Determine whether the current position of the calibration wheel (2) is unknown or whether the target position of the calibration wheel (2) is a positioning hole position, wherein the positioning hole position is the hole position with the lowest frequency of use among all the hole positions on the calibration wheel (2). If so, execute step 5; otherwise, execute step 6; Step 5: The satellite-borne software sends the number of steps required for the calibration wheel motor (1) to rotate one circle, the rotation direction of the calibration wheel motor (1) and the zeroing command to the FPGA software. The FPGA software controls the calibration wheel motor (1) to rotate and searches for the Hall sensor, that is, performs the zeroing process. If the zeroing is successful, the FPGA software controls the calibration wheel motor (1) to stop rotating immediately and executes step 6. If the zeroing fails, the FPGA software controls the calibration wheel motor (1) to stop rotating immediately and executes step 9. Step 6: If the target position is greater than the current position, the target position is subtracted from the current position, and the ratio of the difference to the step angle is used as the first motor step number, and it is determined whether the first motor step number is less than or equal to the number of steps required for the calibration wheel motor (1) to rotate half a circle. If so, the first motor step number is used as the second motor step number finally calculated, and the rotation direction of the calibration wheel motor (1) is counterclockwise at this time; otherwise, the difference between the number of steps required for the calibration wheel motor (1) to rotate one circle and the first motor step number is used as the second motor step number finally calculated, and the rotation direction of the calibration wheel motor (1) is clockwise at this time; If the target position is less than the current position of the calibration wheel, the current position is subtracted from the target position, and the ratio of the difference to the step angle is used as the first motor step number, and it is determined whether the first motor step number is less than or equal to the number of steps required for the calibration wheel motor (1) to rotate half a circle. If so, the first motor step number is used as the second motor step number finally calculated, and the rotation direction of the calibration wheel motor (1) is clockwise at this time; otherwise, the difference between the number of steps required for the calibration wheel motor (1) to rotate one circle and the first motor step number is used as the second motor step number finally calculated, and the rotation direction of the calibration wheel motor (1) is counterclockwise at this time; Step 7: The onboard software sends the second motor step number and the corresponding calibration wheel motor rotation direction to the FPGA software. The FPGA software controls the calibration wheel motor (1) to stop rotating only after rotating the step number, and receives the first calibration wheel motor rotation completion flag sent by the FPGA software. Step 8: The satellite-borne software sends the correction step number to the FPGA software, and the FPGA software controls the calibration wheel motor (1) to stop rotating only after rotating the correction step number, and receives the second calibration wheel motor rotation completion flag sent by the FPGA software; Step 9: The onboard software records the current position of the calibration wheel (2) and downloads relevant telemetry data.

2. The on-orbit high-reliability calibration wheel motor control method according to claim 1, characterized in that: During the homing process, if the first Hall sensor (3-2) or the second Hall sensor (3-3) is valid, the homing is successful, the onboard software receives the Hall sensor status sent by the FPGA software, and records the current position of the calibration wheel (2) as the position of the valid Hall sensor.

3. The on-orbit high-reliability calibration wheel motor control method according to claim 1, characterized in that: During the homing process, if the first Hall sensor (3-2) and the second Hall sensor (3-3) are both invalid after the calibration wheel motor (1) rotates one circle in the rotation direction, the homing fails, and the onboard software receives the Hall sensor status sent by the FPGA software and records the current position of the calibration wheel as "invalid".

4. The on-orbit high-reliability calibration wheel motor control method according to any one of claims 1 to 3, characterized in that: The target position and correction step number of the calibration wheel (2) are obtained by injecting data sent by the satellite platform, or the target position and correction step number of the calibration wheel (2) are determined according to default parameters related to the operating mode of the satellite-borne software.

5. The on-orbit high-reliability calibration wheel motor control method according to any one of claims 1 to 3, characterized in that: The preset calibration wheel zeroing rotation direction is counterclockwise or clockwise.

6. The on-orbit high-reliability calibration wheel motor control method according to any one of claims 1 to 3, characterized in that: Four holes are evenly distributed on the calibration wheel (2), which are, in clockwise direction, a through hole (2-1), a first diffuse transmission plate (2-2), a blind plate (2-3), and a second diffuse transmission plate (2-4), and the magnetic steel (2-5) is located between the first diffuse transmission plate (2-2) and the blind plate (2-3).

7. The on-orbit high-reliability calibration wheel motor control method according to claim 6, characterized in that: The position values ​​of the through hole (2-1), the first diffuse transmission plate (2-2), the magnetic steel (2-5), the blind plate (2-3), and the second diffuse transmission plate (2-4) are 360°, 90°, 135°, 180°, and 270°, respectively, and the position values ​​of the first Hall sensor (3-2) and the second Hall sensor (3-3) are 117° and 324°, respectively.

8. The on-orbit high-reliability calibration wheel motor control method according to claim 6, characterized in that: The positioning hole is located at the first diffuse transmission plate (2-2).

9. The on-orbit high-reliability calibration wheel motor control method according to any one of claims 1 to 3, characterized in that: The step angle of the calibration wheel motor (1) is 0.9°.

10. A satellite-borne software, characterized in that: Used to execute an on-orbit high-reliability calibration wheel motor control method as described in any one of claims 1 to 9.

Images