阅读说明：本技术 力矩模式飞轮控制电路和方法 (Moment mode flywheel control circuit and method ) 是由 魏厚震 莫昱 马俊 李宁 余东东 张聪 仲启亮 于 2020-05-19 设计创作，主要内容包括：本发明涉及一种力矩模式飞轮控制电路和方法,属于电路设计技术领域,解决了力矩波动大等问题。该电路包括：处理器电路,包括FPGA,接收力矩大小信号和力矩方向信号,并基于力矩大小信号和力矩方向信号提供多个第一控制信号；飞轮驱动电路,包括并联的一级能耗电路、二级能耗电路和三相全桥驱动电路,三相全桥驱动电路为飞轮电机提供电机绕组电压,以及通过多个第一控制信号控制一级能耗电路、二级能耗电路与三相全桥驱动电路；以及电源电路,包括电源转换器和第一二极管,经由电源转换器和第一二极管向飞轮驱动电路提供电源电压,根据提供给电源转换器的第二控制信号调节在线性区域中工作的电源转换器的输出电压。降低模式切换过程中力矩波动。(The invention relates to a moment mode flywheel control circuit and a moment mode flywheel control method, belongs to the technical field of circuit design, and solves the problems of large moment fluctuation and the like. The circuit includes: the processor circuit comprises an FPGA, a first control circuit and a second control circuit, wherein the FPGA receives a moment magnitude signal and a moment direction signal and provides a plurality of first control signals based on the moment magnitude signal and the moment direction signal; the flywheel driving circuit comprises a primary energy consumption circuit, a secondary energy consumption circuit and a three-phase full-bridge driving circuit which are connected in parallel, wherein the three-phase full-bridge driving circuit provides motor winding voltage for the flywheel motor and controls the primary energy consumption circuit, the secondary energy consumption circuit and the three-phase full-bridge driving circuit through a plurality of first control signals; and a power supply circuit including a power converter and a first diode, supplying a power supply voltage to the flywheel drive circuit via the power converter and the first diode, and adjusting an output voltage of the power converter operating in a linear region according to a second control signal supplied to the power converter. And the torque fluctuation in the mode switching process is reduced.)

1. A torque mode flywheel control circuit, comprising:

the processor circuit comprises an FPGA, wherein the FPGA is used for receiving a moment magnitude signal and a moment direction signal and providing a plurality of first control signals based on the moment magnitude signal and the moment direction signal;

the flywheel driving circuit comprises a primary energy consumption circuit, a secondary energy consumption circuit and a three-phase full-bridge driving circuit which are connected in parallel, wherein the three-phase full-bridge driving circuit provides motor winding voltage for the flywheel motor, and controls the primary energy consumption circuit, the secondary energy consumption circuit and the three-phase full-bridge driving circuit through the plurality of first control signals; and

and a power supply circuit including a power converter Q and a first diode D via which a power supply voltage is supplied to the flywheel drive circuit, wherein an output voltage of the power converter Q operating in a linear region is adjusted according to a second control signal supplied to the power converter Q by the FPGA.

2. The torque mode flywheel control circuit of claim 1, wherein the processor circuit comprises:

a first moment magnitude signal path for providing a first moment magnitude signal to the FPGA;

a second moment amplitude signal path for providing a second moment amplitude signal to the FPGA, wherein the first moment amplitude signal is the same as the second moment amplitude signal, and the first moment amplitude signal path is a spare path of the second moment amplitude signal path; and

and the moment direction signal path is used for providing a moment direction signal for the FPGA.

3. The torque mode flywheel control circuit of claim 2, wherein the processor circuit further comprises a shared inverter through which the first torque magnitude signal and the second torque magnitude signal are provided to the FPGA;

the first torque magnitude signal path includes a second diode, providing the first torque magnitude signal to an input of the second diode, and connecting an output of the second diode with an input of the shared inverter;

the second torque magnitude signal path includes a third diode, providing the second torque magnitude signal to an input of the third diode, and connecting an output of the third diode with an input of the shared inverter; and

the moment direction signal path comprises a fourth diode, an RC filter and a voltage stabilizing resistor, wherein the moment direction signal is provided for an input end of the fourth diode, an output end of the fourth diode is connected with a first end of the RC filter, a second end of the RC filter is connected with one end of the voltage stabilizing resistor and the FPGA, and the other end of the voltage stabilizing resistor is grounded.

4. The torque mode flywheel control circuit of claim 1 wherein the flywheel drive circuit comprises a Buck converter, a freewheeling diode, a switched inductor and a switched capacitor,

adjusting a voltage provided to the three-phase full-bridge driving circuit by controlling a turn-on time of the Buck converter by a third control signal provided by the FPGA;

the freewheeling diode is connected in parallel with the switched inductor and the switched capacitor in series; and

the switch capacitor is connected in parallel with the primary energy consumption circuit, the secondary energy consumption circuit and the three-phase full-bridge driving circuit.

5. The torque mode flywheel control circuit of claim 1,

the primary energy consumption circuit comprises a primary energy consumption brake pipe and a first resistor which are connected in series; and

the secondary energy consumption circuit comprises a secondary energy consumption brake pipe and a second resistor which are connected in series, wherein the braking speed and the braking torque are adjusted by sequentially conducting the primary energy consumption brake pipe and the secondary energy consumption brake pipe.

6. The torque mode flywheel control circuit of claim 1, wherein the power circuit further comprises a first current protection circuit and a second current protection circuit, wherein the first current protection circuit is connected in parallel with the second current protection circuit.

7. The torque mode flywheel control circuit of claim 6,

the first current protection circuit includes a first fuse F1, a third resistor, and a fourth resistor, wherein the first fuse F1 is in series with the third resistor and the fourth resistor in parallel; and

the second current protection circuit includes a second fuse F2.

8. The torque mode flywheel control circuit of claim 6,

the power circuit further comprises a relay switch, a storage capacitor and a voltage divider,

wherein the energy storage capacitor is connected in parallel with the voltage divider, and the relay switch is connected in series with the first current protection circuit and the second current protection circuit connected in parallel, and connected in series with the energy storage capacitor and the voltage divider connected in parallel.

9. A torque mode flywheel control method, comprising:

providing a moment magnitude signal and a moment direction signal to an FPGA (field programmable gate array), wherein the FPGA obtains a plurality of first control signals based on the moment magnitude signal and the moment direction signal;

respectively controlling a primary energy consumption circuit, a secondary energy consumption circuit and a three-phase full-bridge driving circuit which are connected in parallel in the flywheel driving circuit through the plurality of first control signals, wherein the three-phase full-bridge driving circuit provides motor winding voltage for the flywheel motor; and

the flywheel drive circuit is supplied with a supply voltage via a power converter Q and a first diode D, wherein the output voltage of the power converter Q operating in the linear region is regulated in accordance with a second control signal supplied to the power converter Q by the FPGA.

10. The torque mode flywheel control method of claim 9, further comprising:

providing a first torque magnitude signal to the FPGA through a first torque magnitude signal path;

providing a second torque magnitude signal to the FPGA through a second torque magnitude signal path; and

and providing a moment direction signal to the FPGA through a moment direction signal path.

Technical Field

The invention relates to the technical field of circuit design, in particular to a moment mode flywheel control circuit and a moment mode flywheel control method.

Background

During the in-orbit operation of the satellite, the completion of the task depends on not only the load on the satellite but also the attitude control system of the satellite. The on-orbit working time of the satellite is longer and longer, and in the process of executing certain tasks, the satellite is required to have the capabilities of quick stability, attitude maneuver and high-precision positioning, and a high-reliability and high-performance attitude control system is a premise for ensuring that the satellite successfully completes a preset task. Three-axis attitude control is increasingly being used because of its high accuracy, long life and mobility. The active three-axis attitude control system mainly comprises an air injection control system and a flywheel control system, wherein the air injection control system is used for generating control torque by utilizing the air quality exhausted by a thruster and controlling the three-axis attitude of the satellite. The flywheel control is to exchange angular momentum with the satellite by using the angular momentum stored in the flywheel, and the magnetic torquer is needed to unload when the flywheel is saturated. Compared with jet control, flywheel control has the advantages of no fuel consumption, no environmental pollution, high control precision and long service life, and is increasingly adopted in main satellite attitude control systems.

The flywheel technology has become one of the key technologies for spacecraft attitude control, a satellite attitude control system outputs controllable angular momentum by utilizing reaction torque generated by acceleration and deceleration of a flywheel, and the output torque or the angular momentum of the flywheel acts on a satellite to realize satellite attitude stabilization or attitude maneuver. As a key component of the satellite attitude control system, the reliability of the flywheel directly determines the performance and life of the satellite. The flywheel control circuit mainly ensures the stability of output torque of the flywheel during four-quadrant operation, and simultaneously avoids the pollution of the flywheel to a primary power supply during operation.

As motor technology matured, flywheel motors began to use more permanent magnet brushless dc motors. The brushless direct current motor uses electronic commutation to replace an electric brush and a commutator, can realize the purposes of high performance, high reliability, long service life and maintenance-free, becomes a novel motor integrating the advantages of an alternating current motor and a direct current motor, has the greatest characteristic of no mechanical contact structure consisting of the commutator and the electric brush except maintaining the excellent starting and speed regulating performance of the brush direct current motor, and has a series of advantages of long service life, low noise, small electromagnetic interference, reliable operation, simple maintenance and the like. The disadvantage is that the torque ripple is large, and especially the drive motor for the flywheel needs to be designed ironless to avoid the torque ripple caused by iron core harmonic. The motor has the characteristics of long-term work, high rotating speed, high reliability, high efficiency requirement, stable operation and the like.

A certain foreign flywheel control circuit adopts an analog circuit mode and is realized by combining a plurality of discrete devices, the control circuit has large volume, high power consumption and low precision, and the high-performance flywheel adopts a digital control mode at present. The flywheel generally has two modes, namely a speed mode and a moment mode. The speed mode requires that the rotating speed of the flywheel is in a proportional relation with an input control signal, and the rotating speed is used as a feedback quantity to form a closed-loop control link. The torque mode requires that the output torque of the flywheel be proportional to the input control signal. The flywheel speed control mode has the advantages that the speed closed loop compensates the interference torque such as bearing friction, but the flywheel cannot use a high-precision sensor due to the influence of the working environment and is limited by the number of rotating speed pulses, the rotating speed measurement precision of the flywheel is low in the low-speed mode, the output torque precision is low, and the flywheel can only be used in a bias state. However, the torque control mode is not limited by the accuracy of the rotational speed measurement.

The flywheel motor generally has two modulation modes of a three-phase half bridge and a three-phase full bridge, the three-phase half bridge uses a BUCK half bridge driving circuit, but because a diode follow current loop is not arranged when the motor is in phase change, the impact on a power tube in the phase change process is large, the back electromotive voltage also influences a satellite power supply, the system reliability is reduced, only one phase winding is electrified at each moment, and the motor efficiency is low.

Disclosure of Invention

In view of the foregoing analysis, embodiments of the present invention are directed to a torque mode flywheel control circuit and method, so as to solve the existing problems of large torque fluctuation, insufficient dynamic braking, and abrupt torque change caused by mode switching.

In one aspect, an embodiment of the present invention provides a torque mode flywheel control circuit, including: the processor circuit comprises an FPGA, wherein the FPGA is used for receiving a moment magnitude signal and a moment direction signal and providing a plurality of first control signals based on the moment magnitude signal and the moment direction signal; the flywheel driving circuit comprises a primary energy consumption circuit, a secondary energy consumption circuit and a three-phase full-bridge driving circuit which are connected in parallel, wherein the three-phase full-bridge driving circuit provides motor winding voltage for the flywheel motor, and controls the primary energy consumption circuit, the secondary energy consumption circuit and the three-phase full-bridge driving circuit through the plurality of first control signals; and a power supply circuit including a power converter Q and a first diode D via which a power supply voltage is supplied to the flywheel drive circuit, wherein an output voltage of the power converter Q operating in a linear region is adjusted according to a second control signal supplied to the power converter Q by the FPGA.

The beneficial effects of the above technical scheme are as follows: the first-stage energy consumption circuit and the second-stage energy consumption circuit are started in sequence to adjust the braking speed and the braking torque, so that torque fluctuation can be reduced, insufficient energy consumption braking is avoided, and torque sudden change caused by mode switching is relieved. In addition, the power-on slow start is achieved by adjusting the voltage supplied to the flywheel drive circuit.

In accordance with a further improvement of the above circuit, the processor circuit comprises: a first moment magnitude signal path for providing a first moment magnitude signal to the FPGA; a second moment amplitude signal path for providing a second moment amplitude signal to the FPGA, wherein the first moment amplitude signal is the same as the second moment amplitude signal, and the first moment amplitude signal path is a spare path of the second moment amplitude signal path; and a torque direction signal path for providing the torque direction signal to the FPGA.

In a further refinement of the above circuit, the processor circuit further includes a shared inverter through which the first moment magnitude signal and the second moment magnitude signal are provided to the FPGA; the first torque magnitude signal path includes a second diode, providing the first torque magnitude signal to an input of the second diode, and connecting an output of the second diode with an input of the shared inverter; the second torque magnitude signal path includes a third diode, providing the second torque magnitude signal to an input of the third diode, and connecting an output of the third diode with an input of the shared inverter; and the moment direction signal path comprises a fourth diode, an RC filter and a voltage stabilizing resistor, wherein the moment direction signal is provided for the input end of the fourth diode, the output end of the fourth diode is connected with the first end of the RC filter, the second end of the RC filter is connected with one end of the voltage stabilizing resistor and the FPGA, and the other end of the voltage stabilizing resistor is grounded.

Based on the further improvement of the circuit, the flywheel driving circuit comprises a Buck converter, a freewheeling diode, a switched inductor and a switched capacitor, and the voltage provided for the three-phase full-bridge driving circuit is adjusted by controlling the conduction time of the Buck converter through a third control signal provided by the FPGA; the freewheeling diode is connected in parallel with the switched inductor and the switched capacitor in series; and the switched capacitor is connected in parallel with the primary energy consumption circuit, the secondary energy consumption circuit and the three-phase full-bridge driving circuit.

Based on the further improvement of the circuit, the primary energy consumption circuit comprises a primary energy consumption brake pipe and a first resistor which are connected in series; and the secondary energy consumption circuit comprises a secondary energy consumption brake pipe and a second resistor which are connected in series, wherein the braking speed and the braking torque are adjusted by sequentially conducting the primary energy consumption brake pipe and the secondary energy consumption brake pipe.

Based on the further improvement of the circuit, the power supply circuit further comprises a first current protection circuit and a second current protection circuit, wherein the first current protection circuit is connected with the second current protection circuit in parallel.

Based on a further improvement of the above circuit, the first current protection circuit comprises a first fuse F1, a third resistor and a fourth resistor, wherein the first fuse F1 is connected in series with the third resistor and the fourth resistor in parallel; and the second current protection circuit includes a second fuse F2.

In accordance with a further improvement of the above circuit, the power supply circuit further comprises a relay switch, a storage capacitor and a voltage divider, wherein the storage capacitor is connected in parallel with the voltage divider, the relay switch is connected in series with the first current protection circuit and the second current protection circuit connected in parallel, and is connected in series with the storage capacitor and the voltage divider connected in parallel.

On the other hand, an embodiment of the present invention provides a torque mode flywheel control method, including: providing a moment magnitude signal and a moment direction signal to an FPGA (field programmable gate array), wherein the FPGA obtains a plurality of first control signals based on the moment magnitude signal and the moment direction signal; respectively controlling a primary energy consumption circuit, a secondary energy consumption circuit and a three-phase full-bridge driving circuit which are connected in parallel in the flywheel driving circuit through the plurality of first control signals, wherein the three-phase full-bridge driving circuit provides motor winding voltage for the flywheel motor; and supplying a power supply voltage to the flywheel drive circuit via a power converter Q and a first diode D, wherein an output voltage of the power converter Q operating in a linear region is adjusted according to a second control signal supplied to the power converter Q by the FPGA.

Based on the further improvement of the method, the moment mode flywheel control method further comprises the following steps: providing a first torque magnitude signal to the FPGA through a first torque magnitude signal path; providing a second torque magnitude signal to the FPGA through a second torque magnitude signal path; and providing a torque direction signal to the FPGA through a torque direction signal path.

Compared with the prior art, the invention can realize at least one of the following beneficial effects:

(1) high-performance moment mode flywheel control technology

The invention designs a high-reliability three-phase full-bridge flywheel motor driving circuit, which greatly reduces voltage and current impact in the working process of a flywheel and improves the reliability of the flywheel based on a control strategy combining PAM and PWM.

(2) High-reliability instruction signal acquisition technology

The invention designs a torque instruction size and direction signal acquisition circuit, realizes the isolation from signals on the satellite by adding a diode, cuts off a submarine path between a flywheel and the satellite, and has higher reliability.

(3) High-efficiency flywheel driving and braking technology

The invention designs a braking circuit combining two-stage energy-consumption braking and reverse connection braking, can accurately obtain the current of the flywheel motor, and can not generate moment mutation phenomenon in the mode switching process.

(4) Flywheel high-reliability power supply technology

The invention designs a protection circuit based on the combination of the fuse and the relay, and even if the interior of the flywheel breaks down, the power can be cut off through the relay, so that the influence of the flywheel on a satellite is avoided.

(5) Flywheel surge current suppression technology

The invention designs a surge current suppression circuit based on the combination of an MOS (metal oxide semiconductor) tube and a diode, realizes forward surge suppression through the MOS tube, realizes reverse surge suppression through the diode, limits the flywheel surge current to a lower level, and avoids the impact on a satellite power supply.

In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.

FIG. 1 is a simplified block diagram of a flywheel control circuit according to an embodiment of the present invention;

FIG. 2 is a block diagram of a flywheel control circuit according to an embodiment of the invention;

FIG. 3 is a processor circuit according to an embodiment of the invention;

FIG. 4 is a functional block diagram of a flywheel drive circuit according to an embodiment of the present invention;

FIG. 5 is a functional block diagram of a power supply circuit according to an embodiment of the present invention; and

FIG. 6 is a flow chart of a flywheel control method according to an embodiment of the invention.

Reference numerals:

102-a processor circuit; 104-flywheel drive circuit; 106-a power supply circuit;

Detailed Description

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.

One embodiment of the present invention discloses a moment mode flywheel control circuit, as shown in fig. 1. The moment mode flywheel control circuit includes: the processor circuit 102 comprises an FPGA, and the FPGA is used for receiving the moment magnitude signal and the moment direction signal and providing a plurality of first control signals based on the moment magnitude signal and the moment direction signal; the flywheel driving circuit 104 comprises a primary energy consumption circuit, a secondary energy consumption circuit and a three-phase full-bridge driving circuit which are connected in parallel, wherein the three-phase full-bridge driving circuit provides motor winding voltage for the flywheel motor and controls the primary energy consumption circuit, the secondary energy consumption circuit and the three-phase full-bridge driving circuit through a plurality of first control signals; and a power supply circuit 106 including a power converter Q1 and a first diode D1, supplying a power supply voltage to the flywheel drive circuit via a power converter Q1 and a first diode D1, wherein the output voltage of the power converter Q1 operating in a linear region is adjusted according to a second control signal supplied to the power converter Q1 by the FPGA.

And the control circuit is used for controlling the sequential starting of the reversing tubes (Q1 to Q6 in fig. 4) of the three-phase full-bridge driving circuit so as to provide motor winding voltage for the flywheel motor to realize the mode switching of the flywheel motor. The second control signal is used to control the power converter Q (see Q in fig. 5) to operate in the linear region, so that the output voltage of the power converter Q (see Q in fig. 5) can be adjusted to enable the power-on slow start.

Compared with the prior art, the moment mode flywheel control circuit provided by the embodiment can reduce moment fluctuation, avoid insufficient energy consumption braking and relieve moment mutation caused by mode switching by sequentially starting the primary energy consumption circuit and the secondary energy consumption circuit to adjust the braking speed and the braking moment. In addition, the power-on slow start is achieved by adjusting the voltage supplied to the flywheel drive circuit.

The moment mode flywheel control circuit includes: the processor circuit 102 includes an FPGA configured to receive the torque magnitude signal and the torque direction signal and provide a plurality of first control signals based on the torque magnitude signal and the torque direction signal. The processor circuit 102 includes: a first moment amplitude signal path for providing a first moment amplitude signal to the FPGA; the second moment amplitude signal path is used for providing a second moment amplitude signal to the FPGA, wherein the first moment amplitude signal is the same as the second moment amplitude signal, and the first moment amplitude signal path is a standby path of the second moment amplitude signal path; and a torque direction signal path for providing the torque direction signal to the FPGA.

The processor circuit 102 also includes a shared inverter U1B, which provides a first torque magnitude signal (see torque command magnitude 1 in fig. 3) and a second torque magnitude signal (see torque command magnitude 2 in fig. 3) to the FPGA through a shared inverter U1B; the first torque magnitude signal path includes a second diode D1 providing the first torque magnitude signal to an input of a second diode D1 and connecting an output of the second diode D1 to an input of the common inverter; the second torque magnitude signal path includes a third diode D2 providing the second torque magnitude signal to an input of the third diode D2 and connecting an output of the third diode D2 to an input of the common inverter; and the torque direction signal (see the torque command direction in fig. 3) path includes a fourth diode D3, an RC filter, and a zener resistor R1, wherein the torque direction signal is provided to an input terminal of the fourth diode D3, an output terminal of the fourth diode D3 is connected to a first terminal of the RC filter, a second terminal of the RC filter is connected to one terminal of the zener resistor and the FPGA, and wherein the other terminal of the zener resistor R1 is grounded. Specifically, the RC filter includes a resistor R40 and a capacitor C1.

The torque mode flywheel control circuit also includes a flywheel drive circuit 104. The flywheel driving circuit 104 includes a first-stage energy consumption circuit, a second-stage energy consumption circuit and a three-phase full-bridge driving circuit connected in parallel, wherein the three-phase full-bridge driving circuit provides a motor winding voltage for the flywheel motor, and controls the first-stage energy consumption circuit, the second-stage energy consumption circuit and the three-phase full-bridge driving circuit through a plurality of first control signals. The flywheel drive circuit 104 comprises a Buck converter, a freewheeling diode, a switched inductor and a switched capacitor, and the voltage supplied to the three-phase full-bridge drive circuit (the commutation tubes Q1-Q6 in fig. 4) is adjusted by controlling the conduction time of the Buck converter through a third control signal provided by the FPGA; and a freewheeling diode connected in parallel with the series-connected switched inductor and switched capacitor; and the switched capacitor is connected in parallel with the primary energy consumption circuit, the secondary energy consumption circuit and the three-phase full-bridge driving circuit. Referring to fig. 4, the primary energy consuming circuit comprises a primary energy consuming brake pipe Q8 and a first resistor RN1 connected in series; and the secondary energy consumption circuit comprises a secondary energy consumption brake pipe Q9 and a second resistor RN2 which are connected in series, wherein the braking speed and the braking torque are adjusted by sequentially conducting the primary energy consumption brake pipe Q8 and the secondary energy consumption brake pipe Q9. The third control signal is a turn-on control signal of the Buck converter Q7, and the FPGA is available in the existing manner based on a control strategy.

The torque mode flywheel control circuit also includes a power supply circuit 106. The power supply circuit 106 includes a power converter Q and a first diode D via which a power supply voltage is supplied to the flywheel drive circuit, wherein an output voltage of the power converter Q operating in a linear region is adjusted according to a second control signal supplied to the power converter Q by the FPGA. The power circuit 106 further includes a first current protection circuit and a second current protection circuit, wherein the first current protection circuit is connected in parallel with the second current protection circuit. Specifically, referring to fig. 5, the first current protection circuit includes a first fuse F1, a third resistor R1, and a fourth resistor R2, wherein the first fuse F1 is connected in series with the third resistor R1 and the fourth resistor R2 in parallel; and the second current protection circuit includes a second fuse F2. In addition, the power supply circuit further comprises relay switches K1 and K2, energy storage capacitors C1, C2 and voltage dividers R3 to R7, wherein the energy storage capacitors are connected in parallel with the voltage dividers, and the relay switches are connected in series with the parallel first and second current protection circuits and with the parallel energy storage capacitors and voltage dividers.

Hereinafter, with reference to fig. 2 to 5, the torque mode flywheel control circuit will be described in detail.

The flywheel is a key executing mechanism for high-precision attitude control of modern satellites, and high precision and high reliability are targets for technical development of modern flywheels. The flywheel control circuit of the embodiment of the invention is shown in a schematic block diagram in fig. 2 and comprises a processor circuit, a power supply circuit and a drive circuit. The working principle of the flywheel is that a flywheel processor circuit collects a current moment instruction signal, the rotating speed direction of the flywheel, the rotating speed and a motor current signal in real time, the current moment instruction signal, the rotating speed direction of the flywheel, the rotating speed and the motor current signal are processed by an FPGA control strategy, control mode change is carried out and sent to a driving circuit, and when current is introduced into a flywheel motor winding according to a rule, the flywheel motor can accelerate or decelerate.

According to the requirement of a satellite attitude control system, a flywheel needs to have the functions of acceleration and deceleration movement, and the flywheel works in four states of electric, energy consumption braking, reverse connection braking and a safety mode according to the working principle of the flywheel. The flywheel is in an electric state in the acceleration process, enters a safety mode after the speed exceeds the maximum speed limit, is divided into energy consumption braking and reverse connection braking in the deceleration process, reduces the system power consumption by adopting the energy consumption braking mode when the running speed is higher, and adopts the reverse connection braking mode when the rotating speed is reduced to a certain degree and the pure energy consumption braking is not enough to generate the required braking torque.

Referring to fig. 3, the flywheel processor circuit adopts an inverting adder to realize the acquisition of two-way torque command signals, adopts IO signals to realize the acquisition of flywheel torque command direction signals, and adopts diodes D1, D2 and D3 to realize the one-way conduction between the flywheel control circuit and the onboard circuit, thereby avoiding the problem of potential access to the onboard computer and improving the reliability of the flywheel. The torque command direction signal enters the FPGA circuit after being filtered by the filters R40 and C1, the filtering function is to prevent the influence of high-frequency noise, and the resistor R1 is to provide stable low level and prevent the torque command direction signal from changing suddenly.

Referring to fig. 4, the flywheel drives the motor in the form of a BUCK circuit plus a braking circuit. Specifically, UDC is a motor bus voltage, Qi (i is 1-6) is a phase-change tube (see fig. 4), Q7 is a BUCK converter tube, Q8 is a primary energy consumption brake tube, Q9 is a secondary energy consumption brake tube, VD is a freewheeling diode, L is a switch inductor, and C is a switch capacitor. The BUCK circuit is used for electrically accelerating and reversely braking and decelerating the flywheel, the dynamic performance of the flywheel is directly influenced by the performance of the BUCK circuit, under an electric state, the power consumption and torque fluctuation of the flywheel can be greatly reduced by the BUCK circuit, L, C parameters of the BUCK circuit need to be reasonably designed, and the working frequency and power supply ripple waves can meet the dynamic requirements of the flywheel motor. The energy consumption braking circuit needs to select a reasonable power resistor, the braking effect is influenced if the power resistor is too large, the size and the weight of the resistor are increased if the power resistor is too small, and the switching frequency and the braking rotating speed need to be comprehensively considered if the resistance value is selected. Based on a three-phase six-state mode, the flywheel permanent magnet brushless direct current motor is in star connection, and only one switching tube in an upper bridge and a lower bridge can be allowed to be conducted at each moment. However, in practical use, because the resistance and inductance between two phase windings inside the motor are small, additional phase current filtering measures need to be considered. In order to reduce the charging voltage of the capacitor in the reverse connection mode at one end of the BUCK tube, the filter capacitor and the inductor need to be adjusted to be matched with the motor and the control method. In addition, in order to solve the problem that the back electromotive force of the motor at the tail end of the energy consumption mode can only be reduced, a secondary energy consumption braking circuit is designed.

Referring to fig. 5, F1 and F2 are fuses which are rapidly fused when the flywheel is in overcurrent to prevent the flywheel from influencing the satellite power supply when the flywheel is in fault, and R1 and R2 are current-limiting resistors which are normally fused first to fuse F1 and then to fuse F2. K1, K2 are the relays, through the switch order on the planet, for the flywheel power on-off, C1, C2, R3, R4, R5, R6, R7, Q realize the slow start of going up, avoid the great start-up spike current of flywheel to cause the impact to the satellite power, improve system reliability, diode D prevents the back emf that the high-speed rotation of flywheel produced, causes the interference to the satellite power. The power supply circuit provided by the embodiment of the invention has the advantages of high reliability and good performance.

Compared with the prior art, the invention can realize at least one of the following beneficial effects:

1. the control circuit has the advantages that the digital control circuit based on the FPGA is adopted, the accurate control of the output torque of the flywheel is realized through the preset adaptive torque control strategy, and the traditional analog control circuit is replaced;

2. the flywheel driving circuit is in a high-frequency switch working state for a long time, and particularly, the performance of an MOSFET power device is easy to decline and even damage, so that the flywheel driving circuit is a key factor for high-reliability and long-life work of a flywheel. The three-phase full-bridge motor and the three-phase full-bridge driving circuit based on the BUCK converter are adopted, so that the working performance is higher, the efficiency is higher, and the reliability is higher;

3. in the working process of the flywheel, three working modes of electromotion, reverse connection braking and energy consumption braking exist, the flywheel motor is in different working states (four quadrants) in each working mode, because the bus currents of the motor in the electromotion, reverse connection braking and energy consumption braking processes of the flywheel are not completely consistent, the bus current of the motor is generally adopted to be directly used as a closed loop feedback object in the prior art, so that large torque pulsation is generated during the switching of the working modes, and the output torque precision of the flywheel is low. The invention adopts a high-precision sampling circuit to restrain the mode switching torque ripple at a lower level;

4. according to the invention, the mode of regulating the motor winding voltage by adopting the BUCK converter is adopted to realize the motor current, the traditional mode of directly modulating the three-phase bridge pulse width is replaced, the motor current can be controlled more accurately and more quickly, and the switching power consumption of the power tube is also reduced. Meanwhile, because the motor winding is not directly connected with the power bus, the pollution of the motor back electromotive force fluctuation to the primary power supply of the satellite is eliminated; and

5. according to the invention, the switching rotating speed of the two-stage energy consumption reduction and the reverse connection braking is adopted, and the traditional linear tube direct braking is replaced, so that the power consumption connection during the flywheel mode switching is stable, the satellite power supply pressure is relieved, the uncontrollable internal circulation in the motor is eliminated, and the output torque fluctuation of the flywheel during the rotating speed zero crossing and the mode switching is reduced.

Hereinafter, the flywheel control method will be described in detail with reference to fig. 6.

Referring to fig. 6, the torque mode flywheel control method includes: step S602, providing the torque magnitude signal and the torque direction signal to the FPGA, wherein the FPGA obtains a plurality of first control signals based on the torque magnitude signal and the torque direction signal; step S604, a primary energy consumption circuit, a secondary energy consumption circuit and a three-phase full-bridge driving circuit which are connected in parallel in the flywheel driving circuit are respectively controlled through a plurality of first control signals, wherein the three-phase full-bridge driving circuit provides motor winding voltage for the flywheel motor; and a step S606 of supplying the power supply voltage to the flywheel drive circuit via the power supply converter Q and the first diode D, wherein the output voltage of the power supply converter Q operating in the linear region is adjusted according to the second control signal supplied to the power supply converter Q by the FPGA.

The moment mode flywheel control method further comprises the following steps: providing a first torque magnitude signal to the FPGA through a first torque magnitude signal path; providing a second torque amplitude signal to the FPGA through a second torque amplitude signal path; and providing the moment direction signal to the FPGA through the moment direction signal path.

Compared with the prior art, the invention can realize at least one of the following beneficial effects:

(1) high-performance moment mode flywheel control technology

The invention designs a high-reliability three-phase full-bridge flywheel motor driving circuit, which greatly reduces voltage and current impact in the working process of a flywheel and improves the reliability of the flywheel based on a control strategy combining PAM and PWM.

(2) High-reliability instruction signal acquisition technology

The invention designs a torque instruction size and direction signal acquisition circuit, realizes the isolation from signals on the satellite by adding a diode, cuts off a submarine path between a flywheel and the satellite, and has higher reliability.

(3) High-efficiency flywheel driving and braking technology

The invention designs a braking circuit combining two-stage energy-consumption braking and reverse connection braking, can accurately obtain the current of the flywheel motor, and can not generate moment mutation phenomenon in the mode switching process.

(4) Flywheel high-reliability power supply technology

The invention designs a protection circuit based on the combination of the fuse and the relay, and even if the interior of the flywheel breaks down, the power can be cut off through the relay, so that the influence of the flywheel on a satellite is avoided.

(5) Flywheel surge current suppression technology

The invention designs a surge current suppression circuit based on the combination of an MOS (metal oxide semiconductor) tube and a diode, realizes forward surge suppression through the MOS tube, realizes reverse surge suppression through the diode, limits the flywheel surge current to a lower level, and avoids the impact on a satellite power supply.

Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.