Aerospace motion turntable control method and controller

Abstract

The invention discloses a spaceflight motion turntable control method and a controller, relates to the technical field of spaceflight motion mechanism control, and can solve the problem that a hardware circuit of an existing spaceflight motion turntable controller is complex. According to the scheme, a first chip receives a target speed, a target current and a target position of a motor sent by a satellite platform, collects a Hall signal, a first rotation angle and a first current of the current motor, and sends the first rotation angle and the first current to a second chip; the second chip determines a current speed of the motor according to the first rotation angle, generates a control quantity according to a position difference, a speed difference and a current difference, and sends the control quantity to the first chip, the position difference is a difference value between the target position and the first rotation angle, the speed difference is a difference value between the target speed and the current speed, and the current difference is a difference value between the target speed and the current speed. The current difference is a difference value between the target current and the first current; and the first chip generates a PWM control signal according to the control quantity and the Hall signal, and controls the motor by using the PWM control signal.

Description

Technical Field

[0001] The present application relates to the field of aerospace motion mechanism control technology, and in particular to a control method and controller for an aerospace motion turntable. Background Art

[0002] The aerospace motion turntable is a core device used to simulate the motion of spacecraft in a space environment. It is used for ground-based testing of satellites and spacecraft components (such as thermal vacuum experiments, payload calibration, and control system verification). The controller of the aerospace motion turntable is the core component that ensures high precision and reliability of ground-based testing of the aerospace motion turntable.

[0003] Currently, the control of brushless DC motors in spacecraft motion turntables suffers from low data exchange efficiency and reliability, as well as poor motor control performance, making them unsuitable for high-speed, high-precision control applications. Furthermore, in many cases, software reconfiguration capabilities for on-orbit operation are lacking. Therefore, it is imperative to develop a highly integrated, low-cost, highly reliable, and maintainable on-orbit spacecraft motion turntable controller. Summary of the Invention

[0004] The present application provides a method and controller for controlling a space motion turntable, which can solve the problems of complex hardware circuits, low integration and high cost of current aerospace motion turntable controllers.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect of an embodiment of the present application, a method for controlling a space motion turntable is provided. The method is applied to a space motion turntable controller, wherein the controller is used to control a motor in the space motion turntable. The controller includes: a first chip and a second chip, wherein the first chip is equipped with FPGA software and the second chip is equipped with ARM software. The method includes:

[0007] The first chip receives a target speed, a target current, and a target position of the motor sent by the satellite platform, collects a Hall signal, a first rotation angle, and a first current of the current motor, and sends the first rotation angle and the first current to the second chip;

[0008] The second chip determines the current speed of the motor according to the first rotation angle, generates a control variable according to a position difference, a speed difference, and a current difference, and sends the control variable to the first chip, wherein the position difference is a difference between the target position and the first rotation angle, the speed difference is a difference between the target speed and the current speed, and the current difference is a difference between the target current and the first current;

[0009] The first chip generates a PWM control signal according to the control amount and the Hall signal, and controls the motor using the PWM control signal.

[0010] As a possible implementation manner, after controlling the motor using the PWM control signal, the method further includes:

[0011] The first chip collects a second rotation angle of the motor and sends the second rotation angle to the second chip;

[0012] The second chip inputs the second rotation angle into a preset differential filtering algorithm to obtain a current second speed of the motor;

[0013] The second chip performs closed-loop control on the speed of the motor according to the target speed and the second speed.

[0014] As a possible implementation manner, after controlling the motor using the PWM control signal, the method further includes:

[0015] The first chip collects a second current of the motor and sends the second current to the second chip;

[0016] The second chip performs closed-loop current control on the motor according to the target current and the second current.

[0017] As a possible implementation, the controller further includes a memory, the memory is divided into multiple storage spaces, a first storage space stores a boot program of the controller, a second storage space stores an application program of the first chip, and a third storage space stores an application program of the second chip. The memory further stores an upgrade service program, the first chip includes an RS422 interface module, and the method further includes:

[0018] The first chip receives the software reconstruction mode and reconstruction information sent by the satellite platform through the RS422 interface module;

[0019] The first chip calls the corresponding upgrade service program from the memory according to the reconstruction mode, and reconstructs the corresponding application program according to the reconstruction information.

[0020] As a possible implementation, the first chip further includes an AD acquisition module, a rotation angle acquisition module, a Hall signal acquisition module, and a CAN bus module; the AD acquisition module is used to acquire the first current, the rotation angle acquisition module is used to acquire the first rotation angle, the Hall signal acquisition module is used to acquire the Hall signal, and the CAN bus module is used to communicate with the satellite platform;

[0021] Before the first chip receives the target speed and target current of the motion turntable sent by the satellite platform, the method further includes:

[0022] The first chip receives a pulse-second signal sent by a satellite platform and generates a synchronization signal according to the pulse-second signal;

[0023] The operation of the AD acquisition module, the rotation angle acquisition module, the Hall signal acquisition module, the CAN bus module and the RS422 interface module starts to be triggered on the rising edge of the synchronization signal and ends on the falling edge;

[0024] The data interaction between the first chip and the second chip is triggered by the falling edge of the synchronization signal and ends at the rising edge.

[0025] As a possible implementation, the second chip includes algorithm programs corresponding to multiple operating modes, the operating modes including: uniform speed rotation, variable speed rotation, and positioning. Before the first chip receives the target speed, target current, and target position of the motor sent by the satellite platform, the method further includes:

[0026] The first chip receives the working mode sent by the satellite platform, and sends the working mode to the second chip;

[0027] The second chip determines a corresponding algorithm program according to the working mode.

[0028] As a possible implementation, the first chip further includes a PWM output module, the PWM output module is connected to the drive circuit, and the controlling the motor using the PWM control signal includes:

[0029] The PWM output module transmits the PWM control signal to the drive circuit, so as to control the drive circuit and the motor by using the PWM control signal.

[0030] According to a second aspect of an embodiment of the present application, a space motion turntable controller is provided for controlling a motor in the space motion turntable. The controller includes: a first chip and a second chip, wherein the first chip is equipped with FPGA software and the second chip is equipped with ARM software;

[0031] The first chip is configured to receive a target speed, a target current, and a target position of the motor sent by the satellite platform, collect a Hall signal, a first rotation angle, and a first current of the current motor, and send the first rotation angle and the first current to the second chip;

[0032] the second chip is configured to determine a current speed of the motor according to the first rotation angle, generate a control variable according to a position difference, a speed difference, and a current difference, and send the control variable to the first chip, wherein the position difference is a difference between the target position and the first rotation angle, the speed difference is a difference between the target speed and the current speed, and the current difference is a difference between the target current and the first current;

[0033] The first chip is used to generate a PWM control signal according to the control quantity and the Hall signal, and control the motor using the PWM control signal.

[0034] As a possible implementation, the first chip is further configured to collect a second rotation angle of the motor and send the second rotation angle to the second chip;

[0035] The second chip is further configured to input the second rotation angle into a preset differential filtering algorithm to obtain a current second speed of the motor;

[0036] The second chip is further configured to perform closed-loop control on the speed of the motor according to the target speed and the second speed.

[0037] As a possible implementation, the first chip is further configured to collect a second current of the motor and send the second current to the second chip;

[0038] The second chip is further configured to perform closed-loop current control on the motor according to the target current and the second current.

[0039] According to a third aspect of an embodiment of the present application, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the aerospace motion turntable control method according to the first aspect of the embodiment of the present application is implemented.

[0040] In a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the aerospace motion turntable control method in the first aspect of the embodiments of the present application is implemented.

[0041] The beneficial effects of the technical solutions provided in the embodiments of the present application include at least:

[0042] The aerospace motion turntable control method provided in an embodiment of the present application is applied to an aerospace motion turntable controller, the controller being used to control the motor in the aerospace motion turntable. The controller comprises: a first chip and a second chip, the first chip being equipped with FPGA software and the second chip being equipped with ARM software. During the control process, the first chip receives the target speed, target current, and target position of the motor sent by the satellite platform, and collects the current motor's Hall signal, first rotation angle, and first current, and sends the first rotation angle and first current to the second chip; the second chip determines the current speed of the motor based on the first rotation angle, and generates a control variable based on the position difference, speed difference, and current difference, and sends the control variable to the first chip, wherein the position difference is the difference between the target position and the first rotation angle, the speed difference is the difference between the target speed and the current speed, and the current difference is the difference between the target current and the first current; the first chip generates a PWM control signal based on the control variable and the Hall signal, and uses the PWM control signal to control the motor. This application uses a first chip equipped with FPGA software and a second chip equipped with ARM software. The FPGA implements functions such as interface communication, data acquisition, and PWM output, while the ARM implements multi-motor control calculations. The controller implements a fully digital precision closed-loop control strategy for the DC brushless motor through the coordination of software and hardware, achieving optimal stability, reliability and dynamic response of the entire motion turntable. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A flow chart of a method for controlling a space motion turntable provided in an embodiment of the present application;

[0044] Figure 2 A schematic diagram of the implementation principle of an aerospace motion turntable controller provided in an embodiment of the present application;

[0045] Figure 3 A circuit block diagram of a space motion turntable controller provided in an embodiment of the present application;

[0046] Figure 4 A schematic diagram of the operating timing of an FPGA provided in an embodiment of the present application;

[0047] Figure 5 A flowchart of the turntable control software running in a Cortex-M3 according to an embodiment of the present application;

[0048] Figure 6 A schematic diagram of the data flow of the control software in a second chip provided in an embodiment of the present application;

[0049] Figure 7 A flowchart of a controller program reconstruction provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0051] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0052] Additionally, the use of “based on” or “according to” is intended to be open and inclusive, in that a process, step, calculation, or other action “based on” or “according to” one or more conditions or values ​​may, in practice, be based on additional conditions or beyond values.

[0053] This application provides a method for controlling a spacecraft motion turntable. The method is applied to a spacecraft motion turntable controller, which is used to control a motor in the spacecraft motion turntable. The controller includes: a first chip and a second chip. The first chip is equipped with FPGA software, and the second chip is equipped with ARM software. The method includes the following steps:

[0054] Step 101: The first chip receives the target speed, target current and target position of the motor sent by the satellite platform, collects the Hall signal, first rotation angle and first current of the current motor, and sends the first rotation angle and the first current to the second chip.

[0055] Among them, there can be multiple motors used to drive the aerospace motion turntable, and each motor can be controlled using the aerospace motion turntable control method provided in this application. This application takes one motor as an example, and these motors can be DC brushless motors.

[0056] The ARM may also be referred to as an ARM Cortex-M3. In addition, the first chip may also be referred to as an FPGA or an FPGA chip in this application, and the second chip may also be referred to as an ARM, an ARM chip, an ARM Cortex-M3, or a Cortex-M3.

[0057] In addition, the first chip and the second chip in the controller can also be understood as a processing chip of the controller formed by combining the first chip and the second chip. The processing chip can be a SmartFusion2 chip.

[0058] The first chip includes a CAN bus module, which is used to communicate with the satellite platform to receive the target speed, target current and target position of the motor sent by the satellite platform.

[0059] The first chip also includes an AD acquisition module for acquiring the current of the motor, the first chip also includes an angle acquisition module for acquiring the angle position of the motor, and the first chip also includes a Hall signal acquisition module for acquiring the Hall signal of the motor.

[0060] Step 102: The second chip determines the current speed of the motor based on the first rotation angle, generates a control amount based on the position difference, speed difference and current difference, and sends the control amount to the first chip, wherein the position difference is the difference between the target position and the first rotation angle, the speed difference is the difference between the target speed and the current speed, and the current difference is the difference between the target current and the first current.

[0061] Optionally, the process of the second chip determining the current speed of the motor according to the first rotation angle may be: the second chip inputs the first rotation angle into a preset differential filtering algorithm to obtain the current speed of the motor.

[0062] Step 103: The first chip generates a PWM control signal according to the control variable and the Hall signal, and controls the motor using the PWM control signal.

[0063] Among them, the control quantity can be used to control the phase current of the motor, the Hall signal can be used to control the commutation logic of the motor, and the PWM control signal generated by combining the control quantity and the Hall signal is used to control the motor.

[0064] Optionally, the first chip is further connected to a PWM output module, the PWM output module is connected to a drive circuit, and the controlling the motor using the PWM control signal includes:

[0065] After the PWM control signal is transmitted to the PWM output module, the PWM output module transmits the PWM control signal to the drive circuit, so as to control the drive circuit to control the motor using the PWM control signal.

[0066] Figure 2This is a schematic diagram of the implementation principle of an aerospace motion turntable controller. The aerospace motion turntable control method provided in an embodiment of the present application is applied to an aerospace motion turntable controller. The controller is used to control the motor in the aerospace motion turntable. The controller includes: a first chip and a second chip, the first chip is equipped with FPGA software, and the second chip is equipped with ARM software. During the control process, the first chip receives the target speed, target current, and target position of the motor sent by the satellite platform, and collects the current Hall signal, first rotation angle, and first current of the motor, and sends the first rotation angle and the first current to the second chip; the second chip determines the current speed of the motor based on the first rotation angle, and generates a control variable based on the position difference, speed difference, and current difference, and sends the control variable to the first chip, wherein the position difference is the difference between the target position and the first rotation angle, the speed difference is the difference between the target speed and the current speed, and the current difference is the difference between the target current and the first current; the first chip generates a PWM control signal based on the control variable and the Hall signal, and uses the PWM control signal to control the motor.

[0067] This application uses a first chip equipped with FPGA software and a second chip equipped with ARM software. The FPGA implements functions such as interface communication, data acquisition, and PWM output, while the ARM implements multi-motor control calculations. The controller implements a fully digital precision closed-loop control strategy for brushless DC motors through the coordination of software and hardware, optimizing the stability, reliability, and dynamic response of the entire motion turntable. The SmartFusion2 chip, which combines FPGA with ARM Cortex-M3, is used as the core processing chip of the controller. It has the advantages of high reliability, low power consumption, and single-particle immunity. Through the powerful logic function of its FPGA and the powerful computing power of ARM Cortex-M3, it can complete the design and implementation of complex control systems.

[0068] Optional, such as Figure 3 As shown, the present application provides a circuit principle block diagram of a space motion turntable controller. The first chip further includes an AD acquisition module, a rotation angle acquisition module, a Hall signal acquisition module, and a CAN bus module; the AD acquisition module is used to acquire the first current, the rotation angle acquisition module is used to acquire the first rotation angle, the Hall signal acquisition module is used to acquire the Hall signal, and the CAN bus module is used to communicate with the satellite platform;

[0069] Before the first chip receives the target speed and target current of the motion turntable sent by the satellite platform, the method further includes:

[0070] The first chip receives a pulse-second signal sent by a satellite platform and generates a synchronization signal according to the pulse-second signal;

[0071] The operation of the AD acquisition module, the rotation angle acquisition module, the Hall signal acquisition module, the CAN bus module and the RS422 interface module starts to be triggered on the rising edge of the synchronization signal and ends on the falling edge;

[0072] The data interaction between the first chip and the second chip is triggered by the falling edge of the synchronization signal and ends at the rising edge.

[0073] Optionally, the detailed descriptions of the multiple modules in the controller are as follows:

[0074] The AD acquisition module can be used to acquire the drive current of a brushless DC motor using the HYX7606 16-bit analog-to-digital converter with an input range of ±10V for high-precision digital current closed-loop control. It can acquire eight analog signals and can also monitor circuit board voltage.

[0075] The Angle Acquisition Module can be used to collect turntable angle information output by the angle sensor via the UART or SSI interface for high-precision position closed-loop control. It provides two channels, capable of receiving angle information from a circular induction synchronizer or resolver circuit.

[0076] The Hall Effect signal acquisition module performs low-pass filtering on the Hall Effect signal, then uses a Schmitt inverting trigger (B54AC14RH) to shape the signal before collecting it via the FPGA. This module is used to implement commutation control for brushless DC motors and balance wheel speed measurement.

[0077] CAN bus module: SmartFusion2's FPGA external expansion interface chip SJA1000T and PC82C250 are used to implement a CAN bus, which is mainly used for remote control and telemetry communication with satellite platforms.

[0078] RS422 interface module: This module utilizes the SmartFusion2 external interface chips JSR26CLV31AF and JSR26CLV32F. It provides four duplex RS422 interfaces, one of which utilizes the ARM Cortex-M3's native UART peripheral. This interface is primarily used for SmartFusion2 on-orbit program reconfiguration, improving the controller's maintainability. The remaining three interfaces utilize FPGA logic for interface communication.

[0079] The PWM output module uses the SmartFusion2's Cortex-M3 core to execute the closed-loop control algorithm. The FPGA implements PWM chopping output based on the control variables calculated by the Cortex-M3. This module utilizes the JSR164245SA-S external level conversion chip for brushless DC motor drive control. It can output nine pairs of complementary PWM signals to control the turntable's azimuth, pitch, and balance wheel brushless DC motors.

[0080] Power & Clock Module: This module provides power and clock for SmartFusion2. It can provide 3.3V and 1.2V power to the chip and a 50MHz main clock.

[0081] In the actual process, this application can give full play to the characteristics of SmartFusion2 integrated SOC, take advantage of the advantages of FPGA parallel operation, synchronously collect various types of data, and perform data interaction and motor control output in a time-sharing manner. Figure 4 As shown in the figure, the FPGA divides the pulse-per-second signal sent by the satellite platform to generate a 1kHz synchronization signal used by the controller to synchronize the operating timing of internal modules. The rising edge of the generated 1kHz signal is aligned with the rising edge of the pulse-per-second signal, with a time deviation of less than 10µs.

[0082] The AD acquisition module begins collecting analog quantities such as current and voltage on the rising edge of the 1kHz synchronization signal. The angle acquisition module begins collecting motor position information on the rising edge of the 1kHz synchronization signal. The Hall signal acquisition module begins collecting Hall signal information on the rising edge of the 1kHz synchronization signal. All acquisition work is completed and the data is latched before the falling edge of the 1kHz synchronization signal. The CAN bus module and RS422 interface module also receive data synchronously. If the data is completed before the falling edge of the 1kHz synchronization signal, the new data is latched. If the data is not received, the current data continues to be latched.

[0083] On the falling edge of the 1kHz synchronization signal, the FPGA and ARM exchange data through the AHB lite bus. The FPGA writes the latched AD acquisition data, angle information, and Hall signal information to the ARM Cortex-M3 core, and the Cortex-M3 runs the corresponding algorithm program to calculate the corresponding control quantity. On the rising edge of the 1kHz synchronization signal, the Cortex-M3 exchanges the calculated control quantity with the FPGA, and the FPGA outputs the PWM control signal based on the control quantity.

[0084] Optionally, after controlling the motor using the PWM control signal, the method further includes:

[0085] The first chip collects the second rotation angle of the motor and sends the second rotation angle to the second chip; the second chip inputs the second rotation angle into a preset differential filtering algorithm to obtain the current second speed of the motor; the second chip performs closed-loop control of the speed of the motor according to the target speed and the second speed.

[0086] During actual execution, the turntable control software runs within the Cortex-M3. When the controller is operating, the Cortex-M3 obtains the target speed according to the instructions. It then uses the FPGA to collect real-time second-angle information returned by the angle sensor, performs a differential filtering algorithm, and calculates the current second-speed, thus completing closed-loop speed control.

[0087] Optionally, after controlling the motor using the PWM control signal, the method further includes:

[0088] The first chip collects a second current of the motor and sends the second current to the second chip; the second chip performs closed-loop control of the current of the motor according to the target current and the second current.

[0089] In the actual implementation process, the current closed-loop control uses discrete space vector pulse width modulation technology based on DC brushless motor to realize the control of motor current.

[0090] Detection phase current i A 、i B , from the stator current vector i A +i B +i C =0, the phase current i C The current sector of the turntable is determined by different Hall signals, and the current closed loop is then implemented based on the commutation logic of the current sector and the torque direction output by the speed controller. The six PWM signals that drive the three-phase inverter are output to the drive unit in real time to complete the drive of the motor.

[0091] Optionally, the second chip includes algorithm programs corresponding to multiple operating modes, the operating modes including: uniform speed rotation, variable speed rotation, and positioning. Before the first chip receives the target speed, target current, and target position of the motor sent by the satellite platform, the method further includes:

[0092] The first chip receives the working mode sent by the satellite platform and sends the working mode to the second chip; the second chip determines a corresponding algorithm program according to the working mode.

[0093] The workflow diagram of running the turntable control software in Cortex-M3 is as follows Figure 5As shown. After the controller is powered on, the Cortex-M3 hardware and registers are initialized first. After the initialization is completed, the controller receives the turntable remote control command and switches to each working mode algorithm according to the working mode command. According to the real-time received Hall signal, motor current, and current rotation angle information of the turntable, the speed is increased, and the speed error is calculated according to the target speed. The PID double closed-loop control algorithm is started, the turntable motor control quantity is calculated and interacted with the FPGA for PWM control signal output, so that the turntable rotates to the target position at the target speed. At the same time, according to the real-time received balance wheel Hall signal and balance wheel motor current, the speed error is calculated according to the target speed of the balance wheel and the Hall speed-up feedback comparison. The PID double closed-loop control algorithm is started, the balance wheel motor control quantity is calculated and interacted with the FPGA for PWM chopping output, thereby realizing the balance wheel angular momentum compensation function. The data flow of the control software in the second chip is as follows Figure 6 shown.

[0094] Optionally, the controller further includes a memory, the memory is divided into multiple storage spaces, a first storage space stores a boot program of the controller, a second storage space stores an application program of the first chip, and a third storage space stores an application program of the second chip. The memory further stores an upgrade service program, the first chip includes an RS422 interface module, and the method further includes:

[0095] The first chip receives the software reconstruction mode and reconstruction information sent by the satellite platform through the RS422 interface module; the first chip calls the corresponding upgrade service program from the memory according to the reconstruction mode, and reconstructs the corresponding application according to the reconstruction information.

[0096] It should be noted that the present invention uses the RS422-level UART communication protocol for controller software reconstruction. During the reconstruction process, the satellite platform's onboard computer sends the reconstruction program to SmartFusion2 via the RS422 interface. SmartFusion2 then calls the ISP upgrade service program to update the FPGA and ARM application software according to the bitstream.

[0097] In addition, the memory of the controller in this application can be an eNVM (Embedded nonvolatile memory) memory. The present invention divides the eNVM that stores the turntable control program into three parts. The first part stores the bootload program of Cortex-M3, which is used to boot the program; the second part stores application 1, which is the initial program and is not reconstructed; the third part stores application 2, which is a reconstructible program; after the controller is powered on, it selects to start application 1 or 2 through the instructions of the satellite computer.

[0098] The process of controller program reconstruction is as follows Figure 7As shown in the figure, after the controller is powered on, SmartFusion2 initializes the UART peripherals and the system controller, waits for the programming file size and ISP operation mode from the satellite computer, and then begins the program upgrade. It then reads the program source file with a cyclic redundancy check (CRC) from the satellite computer, reading 4KB of data at a time, storing it in a temporary buffer, checking the CRC, and then forwarding it to the ISP service program. It then sends a handshake signal to the satellite computer and requests the next 4KB of data. This process repeats until the satellite computer has transmitted the entire file. After all data has been successfully written, SmartFusion2 is reset to begin executing the new application.

[0099] This application uses the SmartFusion2 series SOC FPGA chip as the control core, and is equipped with AD acquisition, RS422 and CAN bus interfaces, angle sensor acquisition, DC brushless motor drive, IO input and output and other circuits on the periphery to realize the functions of turntable angular position measurement, drive current acquisition, PWM output control and so on. The chip is equipped with FPGA software and ARM Cortex-M3 application software. The FPGA realizes the functions of interface communication, data acquisition, PWM output and so on, and the ARM realizes the multi-motor dual closed-loop control algorithm. The controller realizes the full digital precision closed-loop control strategy of the DC brushless motor through the coordination of software and hardware, and adopts the dual closed-loop control method of speed loop and current loop to optimize the stability, reliability and dynamic response of the entire motion turntable. It also has the function of on-orbit software reconstruction. The implementation method of the software reconfigurable controller of the aerospace motion turntable based on SmartFusion2 belongs to the field of aerospace motion mechanism control and has on-orbit application experience.

[0100] The present application also provides a space motion turntable controller for controlling a motor in a space motion turntable, the controller comprising: a first chip and a second chip, the first chip carrying FPGA software, the second chip carrying ARM software;

[0101] The first chip is configured to receive a target speed, a target current, and a target position of the motor sent by the satellite platform, collect a Hall signal, a first rotation angle, and a first current of the current motor, and send the first rotation angle and the first current to the second chip;

[0102] the second chip is configured to determine a current speed of the motor according to the first rotation angle, generate a control variable according to a position difference, a speed difference, and a current difference, and send the control variable to the first chip, wherein the position difference is a difference between the target position and the first rotation angle, the speed difference is a difference between the target speed and the current speed, and the current difference is a difference between the target current and the first current;

[0103] The first chip is used to generate a PWM control signal according to the control quantity and the Hall signal, and control the motor using the PWM control signal.

[0104] In one embodiment, the first chip is further configured to collect a second rotation angle of the motor and send the second rotation angle to the second chip;

[0105] The second chip is further configured to input the second rotation angle into a preset differential filtering algorithm to obtain a current second speed of the motor;

[0106] The second chip is further configured to perform closed-loop control on the speed of the motor according to the target speed and the second speed.

[0107] In one embodiment, the first chip is further configured to collect a second current of the motor and send the second current to the second chip;

[0108] The second chip is further configured to perform closed-loop current control on the motor according to the target current and the second current.

[0109] In one embodiment, the controller further includes a memory, the memory is divided into multiple storage spaces, a first storage space stores the boot program of the controller, a second storage space stores the application of the first chip, and a third storage space stores the application of the second chip. The memory also stores an upgrade service program, and the first chip includes an RS422 interface module;

[0110] The first chip is also used to receive the software reconstruction mode and reconstruction information sent by the satellite platform through the RS422 interface module; call the corresponding upgrade service program from the memory according to the reconstruction mode, and reconstruct the corresponding application according to the reconstruction information.

[0111] In one embodiment, the first chip further includes an AD acquisition module, a rotation angle acquisition module, a Hall signal acquisition module, and a CAN bus module; the AD acquisition module is used to acquire the first current, the rotation angle acquisition module is used to acquire the first rotation angle, the Hall signal acquisition module is used to acquire the Hall signal, and the CAN bus module is used to communicate with the satellite platform;

[0112] The first chip is further configured to receive a pulse-per-second signal sent by a satellite platform and generate a synchronization signal based on the pulse-per-second signal;

[0113] The operation of the AD acquisition module, the rotation angle acquisition module, the Hall signal acquisition module, the CAN bus module and the RS422 interface module starts to be triggered on the rising edge of the synchronization signal and ends on the falling edge;

[0114] The data interaction between the first chip and the second chip is triggered by the falling edge of the synchronization signal and ends at the rising edge.

[0115] In one embodiment, the second chip includes algorithm programs corresponding to multiple working modes, wherein the working modes include: uniform speed rotation, variable speed rotation, and positioning;

[0116] The first chip is further configured to receive the operating mode sent by the satellite platform and send the operating mode to the second chip;

[0117] The second chip is further configured to determine a corresponding algorithm program according to the working mode.

[0118] In one embodiment, the first chip further includes a PWM output module, the PWM output module is connected to the drive circuit, and controlling the motor using the PWM control signal includes:

[0119] The PWM output module transmits the PWM control signal to the drive circuit, so as to control the drive circuit and the motor by using the PWM control signal.

[0120] In another embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the aerospace motion turntable control method of the embodiment of the present application are implemented.

[0121] In another embodiment of the present application, a computer program product is also provided. The computer program product includes computer instructions. When the computer instructions are executed on the aerospace motion turntable controller, the aerospace motion turntable controller executes each step of the aerospace motion turntable control method in the method flow shown in the above method embodiment.

[0122] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer execution instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more media that can be integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0123] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above 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.

[0124] The above embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A method for controlling a space motion turntable, characterized in that: The invention is applied to a space motion turntable controller, which is used to control a motor in the space motion turntable. The controller includes: a first chip and a second chip. The first chip is equipped with FPGA software, and the second chip is equipped with ARM software. The method includes: The first chip receives a target speed, a target current, and a target position of the motor sent by the satellite platform, collects a Hall signal, a first rotation angle, and a first current of the current motor, and sends the first rotation angle and the first current to the second chip; The second chip determines the current speed of the motor according to the first rotation angle, generates a control variable according to a position difference, a speed difference, and a current difference, and sends the control variable to the first chip, wherein the position difference is a difference between the target position and the first rotation angle, the speed difference is a difference between the target speed and the current speed, and the current difference is a difference between the target current and the first current; The first chip generates a PWM control signal according to the control amount and the Hall signal, and controls the motor using the PWM control signal.

2. The method according to claim 1, characterized in that After controlling the motor using the PWM control signal, the method further includes: The first chip collects a second rotation angle of the motor and sends the second rotation angle to the second chip; The second chip inputs the second rotation angle into a preset differential filtering algorithm to obtain a current second speed of the motor; The second chip performs closed-loop control on the speed of the motor according to the target speed and the second speed.

3. The method according to claim 1, characterized in that After controlling the motor using the PWM control signal, the method further includes: The first chip collects a second current of the motor and sends the second current to the second chip; The second chip performs closed-loop current control on the motor according to the target current and the second current.

4. The method according to claim 1, wherein The controller further includes a memory, the memory being divided into a plurality of storage spaces, a first storage space storing a boot program of the controller, a second storage space storing an application program of the first chip, and a third storage space storing an application program of the second chip. The memory further stores an upgrade service program, the first chip including an RS422 interface module, and the method further including: The first chip receives the software reconstruction mode and reconstruction information sent by the satellite platform through the RS422 interface module; The first chip calls the corresponding upgrade service program from the memory according to the reconstruction mode, and reconstructs the corresponding application program according to the reconstruction information.

5. The method according to claim 4, characterized in that The first chip further includes an AD acquisition module, an angle acquisition module, a Hall signal acquisition module, and a CAN bus module; the AD acquisition module is used to acquire the first current, the angle acquisition module is used to acquire the first angle, the Hall signal acquisition module is used to acquire the Hall signal, and the CAN bus module is used to communicate with the satellite platform; Before the first chip receives the target speed and target current of the motion turntable sent by the satellite platform, the method further includes: The first chip receives a pulse-second signal sent by a satellite platform and generates a synchronization signal according to the pulse-second signal; The operation of the AD acquisition module, the rotation angle acquisition module, the Hall signal acquisition module, the CAN bus module and the RS422 interface module starts to be triggered on the rising edge of the synchronization signal and ends on the falling edge; The data interaction between the first chip and the second chip is triggered by the falling edge of the synchronization signal and ends at the rising edge.

6. The method according to claim 1, characterized in that The second chip includes algorithm programs corresponding to multiple working modes, including: uniform speed rotation, variable speed rotation, and positioning. Before the first chip receives the target speed, target current, and target position of the motor sent by the satellite platform, the method further includes: The first chip receives the working mode sent by the satellite platform, and sends the working mode to the second chip; The second chip determines a corresponding algorithm program according to the working mode.

7. The method according to claim 1, characterized in that The first chip further includes a PWM output module, the PWM output module is connected to the drive circuit, and the control of the motor using the PWM control signal includes: The PWM output module transmits the PWM control signal to the drive circuit, so as to control the drive circuit and the motor by using the PWM control signal.

8. A space motion turntable controller for controlling a motor in a space motion turntable, the controller comprising: A first chip and a second chip, wherein the first chip is equipped with FPGA software and the second chip is equipped with ARM software; The first chip is configured to receive a target speed, a target current, and a target position of the motor sent by the satellite platform, collect a Hall signal, a first rotation angle, and a first current of the current motor, and send the first rotation angle and the first current to the second chip; the second chip is configured to determine a current speed of the motor according to the first rotation angle, generate a control variable according to a position difference, a speed difference, and a current difference, and send the control variable to the first chip, wherein the position difference is a difference between the target position and the first rotation angle, the speed difference is a difference between the target speed and the current speed, and the current difference is a difference between the target current and the first current; The first chip is used to generate a PWM control signal according to the control quantity and the Hall signal, and control the motor using the PWM control signal.

9. The controller according to claim 8, characterized in that The first chip is further configured to collect a second rotation angle of the motor and send the second rotation angle to the second chip; The second chip is further configured to input the second rotation angle into a preset differential filtering algorithm to obtain a current second speed of the motor; The second chip is further configured to perform closed-loop control on the speed of the motor according to the target speed and the second speed.

10. The controller according to claim 8, characterized in that The first chip is further configured to collect a second current of the motor and send the second current to the second chip; The second chip is further configured to perform closed-loop current control on the motor according to the target current and the second current.

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