CN-116317736-B - Current commutation control method of high-speed stepping motor applied to space environment

CN116317736BCN 116317736 BCN116317736 BCN 116317736BCN-116317736-B

Abstract

The invention relates to a current commutation control method of a high-speed stepping motor applied to a space environment. The high-speed stepping motor current reversing control adopts a control method combining quick release and slow release, and generates a high-speed parallel control signal of a high-speed stepping motor driving circuit through an anti-fuse FPGA device to control the logic state of a bridge circuit MOSFET switch, so that the quick steering of winding current during high-speed movement of the stepping motor is realized. The invention reduces the power consumption on the premise of ensuring the high-speed operation of the stepping motor in a space environment, improves the system efficiency and the system reliability, can change the proportion of the quick release time to the total release time according to the load, and can more easily meet the requirement of quick release of the current of the high-speed motor. The control mode can be changed on the basis of the original control hardware, the universality is good, and the reliability is high and the implementation is easy.

Inventors

WANG TAO
HUANG XIAORONG
YU ZHILIANG
YAO WEILIN
LI HAO

Assignees

上海宇航系统工程研究所

Dates

Publication Date: 20260508
Application Date: 20230317

Claims (8)

1. A current commutation control method for a high-speed stepper motor in a space environment is characterized in that the current commutation control of the high-speed stepper motor adopts a control method combining quick release and slow release, a control signal of a high-speed stepper motor driving circuit is generated through an anti-fuse FPGA device to control the logic state of a bridge circuit MOSFET switch, when the current commutation of a winding needs quick release, the control signal controls the logic state of the bridge circuit MOSFET switch to enable the winding to maintain the current by reversely charging the power supply and quickly reducing the current, when the current is switched to slow release, the control signal controls the logic state of the bridge circuit MOSFET switch to enable the current to slowly reduce, the quick steering of the winding current when the stepper motor moves at a high speed is realized, the proportion of the quick release time to the total release time is changed according to a load, the torque pulsation of the motor operation is reduced when the quick release requirement of the current of the high-speed motor is met, Wherein θ is the stepping angle of the stepping motor, the value is a fixed value, R is the impedance of the motor winding, Is the maximum value of the current of the motor winding, L is the inductive reactance of the motor winding, For the period of the change in the current of the motor winding, For a slow bleed time of half a current period, For a fast bleed time of half a current period, Is the motor rotation speed.
2. The method for controlling current commutation of a high-speed stepper motor in a space environment according to claim 1, wherein the high-speed stepper motor driving circuit comprises two independent H-bridge circuits, each H-bridge circuit is composed of four N-channel MOSFETs with high-speed switching effect, and the N-channel MOSFETs are identical in model and specification.
3. The method for controlling current commutation of the high-speed stepper motor applied to the space environment according to claim 2, wherein the driving of the high-speed stepper motor is characterized in that the anti-fuse FPGA device adopts high-frequency chopping to control the H-bridge circuit, and dead time is set to avoid direct connection of the bridge arms on the same side to cause short circuit to ground.
4. The method for controlling current commutation of a high-speed stepper motor in a space environment according to claim 3, wherein the high-speed stepper motor control circuit generates the control signals of the stepper motor driving circuit by using the anti-fuse FPGA device, and each N-channel MOSFET corresponds to one signal respectively, so that high-speed parallel output of the control signals is realized.
5. The method for controlling current commutation of a high-speed stepper motor in a space environment according to claim 4, wherein the anti-fuse FPGA device adopts a 46KHz high-frequency chopping signal, and the rapid adjustment of the winding current is completed by adjusting the on-off ratio of 10% -90% in each switching period.
6. The method for controlling current commutation of a high-speed stepper motor applied to a space environment according to claim 4, wherein four N-channel MOSFETs in each H-bridge circuit are divided into an upper left bridge arm, a lower left bridge arm, an upper right bridge arm and a lower right bridge arm, and when the upper and lower bridge arms of the same side bridge arm have alternate opening actions, dead time of 1-5 us is set between the alternate opening of the upper and lower bridge arms.
7. The method for controlling current commutation of a high-speed stepper motor applied to a space environment according to claim 6 is characterized in that when the winding current is in a forward increasing stage, current forward transfer is achieved by simultaneously opening the left upper bridge arm and the right lower bridge arm, when the winding current commutation needs to be rapidly discharged, winding maintenance current reversely charges to a power supply through the right upper bridge arm by opening the right upper bridge arm, current rapidly drops, when the current commutation is switched to be slowly discharged, the left lower bridge arm and the right lower bridge arm are opened by closing the left upper bridge arm and the right upper bridge arm, the winding maintenance current decays through the left lower bridge arm and the right lower bridge arm, and the current slowly drops.
8. The method for controlling current commutation of a high-speed stepper motor in a space environment according to claim 7, wherein the motor winding current variation period T is in a proportional relation with the motor rotation speed V, v= (4 x θ)/T, so that the higher the motor rotation speed V is, the smaller the motor winding current variation period T is; The ratio of the rapid release time to the total release time is changed according to the load, the slow release time is as follows After calculation, the fast bleed-off time is obtained by subtracting the slow bleed-off time from half of the current variation period Thereby reducing the torque pulsation of the motor operation while realizing the rapid current discharge requirement of the high-speed motor.

Description

Current commutation control method of high-speed stepping motor applied to space environment Technical Field The invention relates to the field of space mechanism driving control, in particular to a current reversing control method of a high-speed stepping motor applied to a space environment. Background The stepping motor is an electromechanical device for directly converting electric pulse into mechanical motion, has the advantages of high precision, high response speed, stable motion and the like, and is widely applied to a driving system of a space mechanism. In space mechanisms, high-speed stepper motors are mainly used for controlling and driving rotation, rotation and movement of various mechanisms, such as unfolding of solar sailboards, positioning of satellite antennas, positioning of telescopes and the like. The small motor often adopts a higher reduction ratio to realize torque amplification and needs high-speed motion of the motor, so that the high-speed driving requirement of the stepping motor is growing to meet the requirements of quick response and light weight application. At present, most of stepping motors for space are in a low-speed movement mode, a low-speed running driving circuit generally adopts a low-speed discharge mode, current reversing speed is reduced due to low-speed discharge, and the driving mode is directly adopted to carry out parameter adjustment and then drive the stepping motor to move at a high speed, so that the motor can not be started or stopped in a step-out manner in the starting process, and the running speed of the motor can not be improved. The stepping motor for space with few high-speed motions adopts a rapid release mode, and the rapid release can accelerate the current reversing speed so as to improve the motor rotating speed, but the problem is that a large number of burrs are generated in the current waveform, the torque pulsation is increased, and the stable operation of the motor is influenced. Because the two modes have obvious defects, the current reversing method of the high-speed stepping motor for the space mechanism needs to be researched by combining the current space mechanism driving technology. Disclosure of Invention The invention aims to provide the current reversing control method for the high-speed stepping motor, which is applied to the space environment, has the advantages of flexibility, simple control, easy realization, good universality, high reliability and easy realization, and can be well applied to the high-speed movement control of the stepping motor of a mechanism with high space reliability and long service life, and the control mode is changed on the basis of the original control hardware. The aim of the invention is realized by the following technical scheme: The invention provides a current reversing control method of a high-speed stepping motor applied to a space environment. The control method of the combination of the rapid release and the slow release is adopted in the current reversing control of the high-speed stepping motor, the control signal of the high-speed stepping motor driving circuit is generated through the anti-fuse FPGA device to control the logic state of the MOSFET switch of the bridge circuit, the rapid steering of the winding current during the high-speed movement of the stepping motor is realized, the ratio of the rapid release time to the total release time is changed according to the load, and the torque pulsation of the motor operation is reduced while the rapid release requirement of the high-speed motor current is met. The high-speed stepping motor driving circuit comprises two independent H-bridge circuits, wherein each H-bridge circuit consists of four N-channel MOSFETs with high-speed switching effect, and the N-channel MOSFETs are identical in model and specification. Specifically, the high-speed stepping motor is driven by the anti-fuse FPGA device to control the H-bridge circuit by adopting high-frequency chopping, and dead time is set at the same time, so that the short circuit to ground caused by direct connection of the same side bridge arm is avoided. Specifically, the high-speed stepping motor control circuit adopts the anti-fuse FPGA device to generate the control signal of the stepping motor driving circuit, the process characteristics of the anti-fuse FPGA device enable the on-track working environment not to have single event upset effect, generate an H-bridge circuit control signal, directly drive the on-off of the N-channel MOSFET device after amplification, each N-channel MOSFET corresponds to one path of signal respectively, and each MOSFET control signal is completely independent, so that the high-speed parallel output of the control signal is realized. Specifically, the anti-fuse FPGA device adopts a 46KHz high-frequency chopping signal, and the rapid adjustment of the winding current is completed by adjusting the switch-on proportion of 10% -90% in each switch period. Specif