CN-122000687-A - Space-borne servo antenna control system based on heterogeneous FPGA and control method thereof

CN122000687ACN 122000687 ACN122000687 ACN 122000687ACN-122000687-A

Abstract

The application relates to a satellite-borne servo antenna control system based on heterogeneous FPGA and a control method thereof, belonging to the technical field of satellite-borne servo antenna control. The system comprises a heterogeneous FPGA, an S-shaped curve planner, a position type PID controller, a micro-step subdivision controller, a double H-bridge driving chip, a stepping motor, a double-channel rotary transformer and a rotary decoding chip, wherein the heterogeneous FPGA comprises a PS end and a PL end. According to the system, a soft and hard cooperative control framework based on heterogeneous FPGA is constructed, a complex track planning and PID calculation control algorithm is arranged at a PS end to improve development flexibility and maintainability, and micro-step subdivision control with high real-time performance is arranged at a PL end to ensure control certainty. On the basis, the smoothness and high tracking precision of the running track of the antenna are ensured by the feedforward-feedback composite closed-loop control formed by the PS end and the PL end, and the jitter in the control process of the stepping motor is optimized.

Inventors

LI QIANGBO
LUO MIN
YI YUTING
GU LINFENG

Assignees

湖南斯北图科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260409

Claims (9)

1. The satellite-borne servo antenna control system based on the heterogeneous FPGA is characterized by comprising the heterogeneous FPGA, an S-shaped curve planner, a position PID controller, a micro-step subdivision controller, a double H-bridge driving chip, a stepping motor, a double-channel rotary transformer and a rotary decoding chip, wherein the heterogeneous FPGA comprises a PS end and a PL end; The PS end is used for controlling the S-shaped curve planner and the position type PID controller to respectively conduct motor track planning and motor stepping speed calculation according to the received target angle instruction of the antenna pointing mechanism and the actual position of the stepping motor which is periodically fed back by the PL end, and outputting the target speed and the rotating direction of the stepping motor to the PL end; The PL end is used for controlling the micro-step subdivision controller to conduct micro-step subdivision control of motor step distance according to the received target speed and rotation direction, and outputting four paths of PWM pulse signals to the double H-bridge driving chip, the double H-bridge driving chip drives the control antenna pointing mechanism of the stepping motor to rotate towards a target angle, and after the double-channel rotary transformer and the rotary decoding chip detect and output the actual position of the stepping motor, the PL end is also used for periodically collecting a coarse-fine machine code value which is output by the rotary decoding chip and represents the actual position of the stepping motor, and feeding back to the PS end to achieve closed-loop control of the rotation angle of the antenna pointing mechanism.
2. The heterogeneous FPGA-based satellite-borne servo antenna control system according to claim 1, wherein after the PS receives a target angle command of the antenna pointing mechanism and an actual position of the stepper motor periodically fed back by the PL end and converts the target angle command into a target position of the stepper motor, the S-shaped curve planner is configured to perform periodic calculation of a planned position according to the target position and the actual position of the stepper motor and output a current time planned position to the position PID controller, and the position PID controller is configured to perform differential calculation on the current time planned position and the actual position of the stepper motor to obtain a position error, and perform PID calculation on the position error to output a target speed and a rotation direction of the stepper motor to the PL end.
3. The heterogeneous FPGA based satellite-borne servo antenna control system of claim 1, wherein the micro-step subdivision controller comprises a speed control module, a micro-step look-up table module, and a subdivision control module; the speed control module is used for controlling the speed mode of the stepping motor according to the target speed and the rotation direction output by the PS end; the micro-step table lookup module is used for querying a micro-step serial number corresponding to the target speed and the rotation direction in a micro-step table; The subdivision control module is respectively connected with the speed control module and the micro-step table lookup module, and is used for calculating an electrical angle according to an output result of the speed control module and a micro-step serial number output by the micro-step table lookup module, calculating an optimized current according to the electrical angle, and finally generating four paths of PWM pulse signals according to the optimized current and outputting the four paths of PWM pulse signals to the double H-bridge driving chip.
4. The heterogeneous FPGA-based satellite-borne servo antenna control system of claim 3, wherein the four PWM pulse signals are divided into two groups, each group includes two PWM pulse signals of positive phase and negative phase, and the PWM pulse signal values are calculated in the following manner: Equally dividing 360-degree electrical angles according to a given micro-step number to obtain electrical angle values corresponding to all the micro-steps, and generating corresponding optimized currents based on the electrical angles corresponding to the micro-step serial numbers output by the micro-step table lookup module, wherein the value range of the optimized currents is-1.0 to 1.0; Judging the positive and negative of the optimized current, when the current is larger than 0, configuring positive phase PWM pulse signal values in each group as the product of the optimized current and MAX_DUTY, and configuring negative phase PWM pulse signal values in each group as 0, otherwise configuring positive phase PWM pulse signal values in each group as 0, and configuring negative phase PWM pulse signal values in each group as the product of the negative value of the optimized current and MAX_DUTY, wherein MAX_DUTY is a preset PWM maximum DUTY ratio parameter.
5. The heterogeneous FPGA based on-board servo antenna control system of claim 3, wherein the micro-step subdivision controller further comprises a register set, the register set comprising a write register and a read register; The write register comprises a mode switching register, a PWM frequency register, a pulse increment register, a rotation direction register, a rotation speed register and a configuration output register, and is used for receiving external control instructions, configuring a control/working mode of motor drive, PWM output frequency, motor rotation pulse number, motor rotation direction, motor rotation speed and output port functions, and the read register comprises a residual increment number register and a rotation position value register and is used for feeding back the real-time running state of the motor drive to the outside, including reading rotation residual pulse and motor actual position data.
6. The heterogeneous FPGA-based satellite-borne servo antenna control system according to claim 1, wherein the dual-channel rotary transformer is used for detecting the actual position of the stepping motor, and the rotary decoding chip is connected with the dual-channel rotary transformer and used for receiving and decoding output signals of the dual-channel rotary transformer and outputting coarse and fine machine code values representing the actual position of the stepping motor.
7. The heterogeneous FPGA-based satellite-borne servo antenna control system of claim 1, wherein the PS-side is further configured to perform a gyratory coarse-fine combination error correction after receiving a coarse-fine machine code value representing an actual position of a stepper motor, which is periodically fed back by the PL-side; the combination error correction principle of the rotary rough and fine machine is as follows: Comparing the last 12 bits of the coarse machine code value with the fine machine code value after shifting, judging whether the coarse machine code value is before or after the fine machine code value, then compensating or backing the first four bits of the coarse machine code value, and combining the first 4 bits of the coarse machine code value after error correction with the 16 bits of the fine machine code value to form a 20-bit resolution angle value to finish error correction.
8. The heterogeneous FPGA based satellite borne servo antenna control system of claim 1 or 2 or 7, wherein the PS side communicates with the PL side based on FIC bus.
9. A method for controlling a satellite-borne servo antenna based on a heterogeneous FPGA, which is realized based on the satellite-borne servo antenna control system based on a heterogeneous FPGA according to any one of claims 1 to 8, and comprises the following steps: At the PS end, according to the received target angle instruction of the antenna pointing mechanism and the actual position of the stepping motor which is periodically fed back by the PL end, controlling an S-shaped curve planner and a position type PID controller to respectively conduct motor track planning and motor stepping speed calculation, and outputting the target speed and the rotating direction of the stepping motor to the PL end; At the PL end, controlling the micro-step subdivision controller to perform micro-step subdivision control of motor step pitch according to the target speed and the rotation direction, and outputting four paths of PWM pulse signals to the double H-bridge driving chip; And after the double-H-bridge driving chip drives the antenna pointing mechanism of the stepping motor to rotate towards a target angle and the double-channel rotary transformer and the rotary-variable decoding chip detect and output the actual position of the stepping motor, further periodically acquiring a coarse-fine machine code value which is output by the rotary-variable decoding chip and represents the actual position of the stepping motor according to the PL end, and feeding back the coarse-fine machine code value to the PS end to realize closed-loop control of the rotation angle of the antenna pointing mechanism.

Description

Space-borne servo antenna control system based on heterogeneous FPGA and control method thereof Technical Field The application relates to the technical field of satellite-borne servo antenna control, in particular to a satellite-borne servo antenna control system based on heterogeneous FPGA and a control method thereof. Background With the continuous acceleration of global informatization, the demand for high-throughput, high-reliability satellite communication services continues to grow, which puts higher demands on the performance of satellite-borne communication loads. As a key component of the satellite-borne communication system, the performance of the pointing mechanism of the satellite-borne servo antenna directly determines the establishment, maintenance and transmission efficiency of the communication link. The pointing precision of the antenna pointing mechanism is a core performance index for judging whether the antenna pointing mechanism can execute a high-precision ground-oriented instruction and realizing a complex space scanning mode, and finally depends on the control performance of a control system of the antenna pointing mechanism. Therefore, the development of the satellite-borne servo antenna control system with extremely high control precision is a fundamental premise for realizing the high-precision and high-stability pointing of the satellite-borne servo antenna. However, current developments in satellite-borne servo antenna control systems still face a number of serious challenges: First, conventional general purpose processor based control schemes employ sequential execution, and interrupts and task scheduling introduce unpredictable delays that are difficult to meet with stringent real-time and deterministic requirements for high precision control. Secondly, a single FPGA (field programmable gate array) is adopted to integrate all functions (such as track planning, communication protocol and the like), although the certainty can be improved, the defects of large development difficulty, high resource consumption and poor flexibility exist, and the follow-up algorithm updating and on-board maintenance are extremely difficult. And the conventional PID (proportion-integral-derivative) direct drive stepping motor mode has the problems of large vibration noise and low-speed crawling, so that the running track of the antenna is not smooth, and the improvement of the final control precision is limited. In view of the foregoing, the prior art has a significantly short board in terms of real-time control, flexibility and smoothness of running track, and there is a need for an innovative high-precision control architecture to meet the high-standard control requirements of modern satellite-borne servo antennas. Disclosure of Invention Based on the above, it is necessary to provide a satellite-borne servo antenna control system based on heterogeneous FPGA and a control method thereof. A satellite-borne servo antenna control system based on a heterogeneous FPGA comprises the heterogeneous FPGA, an S-shaped curve planner, a position type PID controller, a micro-step subdivision controller, a double H-bridge driving chip, a stepping motor, a double-channel rotary transformer and a rotary decoding chip, wherein the heterogeneous FPGA comprises a PS end and a PL end; The PS end is used for controlling the S-shaped curve planner and the position type PID controller to respectively conduct motor track planning and motor stepping speed calculation according to the received target angle instruction of the antenna pointing mechanism and the actual position of the stepping motor which is periodically fed back by the PL end, and outputting the target speed and the rotating direction of the stepping motor to the PL end; The PL end is used for controlling the micro-step subdivision controller to conduct micro-step subdivision control of motor step distance according to the received target speed and rotation direction and outputting four paths of PWM pulse signals to the double H-bridge driving chip, the double H-bridge driving chip drives the antenna pointing mechanism of the stepping motor to rotate towards the target angle, after the double-channel rotary transformer and the rotary decoding chip detect and output the actual position of the stepping motor, the PL end is also used for periodically collecting coarse and fine machine code values which are output by the rotary decoding chip and represent the actual position of the stepping motor, and feeding back the coarse and fine machine code values to the PS end to achieve closed-loop control of the rotation angle of the antenna pointing mechanism. Further, after the PS end receives the target angle instruction of the antenna pointing mechanism and the actual position of the stepping motor, which is periodically fed back by the PL end, and converts the target angle instruction into the target position of the stepping motor, the S-shaped curve planner is us