基于FPGA的磁悬浮飞轮用自修复磁轴承控制器的设计

Design of FPGA-based self-repairing AMB controller for MSFW

磁悬浮飞轮是对卫星等航天器进行高精度姿态控制的执行机构,为了提高空间用磁悬浮飞轮控制系统的可靠性和灵活性,对基于FPGA的磁轴承数字控制器进行研究。首先,对磁轴承系统进行建模,并选择合适的控制策略;利用片上软硬件协同设计的思想,提出了一种基于FPGA和LEON3处理器软核的磁轴承数字控制器。然后,搭建了实验系统测试系统的实际性能。最后,提出了一种基于FPGA的自修复磁轴承控制器。基于FPGA的磁轴承控制器相对基于DSP+FPGA的控制器失效率降低了10%,控制板面积减小30%。实验结果表明,在基于FPGA的磁轴承控制器控制下,在磁悬浮飞轮工作转速范围内,飞轮转子跳动量<20μm,力矩输出误差<4×10-3N.m,正反转不一致性<10%,达到了较高的控制精度。

Magnetically Suspended Flywheel （MSFW） is an actuator for the high precision attitude control of spacecrafts such as satellites.In order to improve the reliability and flexibility of a MSFW control system for space applications,a FPGA-based digital controller for Active Magnetic Bearing （AMB） is investigated. Firstly, the model of the magnetic bearing system is set up and several kinds of suitable control strategies are chosen. Then, by using the idea of on-chip hardware and software co-design, an AMB controller based on a FPGA and a LEON3 soft processor is presented,and a prototyping platform is built to test control algorithms and to verify the system performance. Finally, a self-repairing FPGA-based AMB controller is proposed. Comparing with the DSP-FPGA-based AMB controller, the FPGA-based controller has decreased the failure rate by 10% and the board area by 30%. Experimental results indicate that the beating of flywheel rotor and the torque output error are less than 20 μm and 4×10-3N·m,respectively, and the inconsistency between positive and inversion is less than 10% under the control of the FPGA-based AMB controller and the working speed scope of MSFW.These data prove that the proposed controller has achieved a higher precision.