星载反作用飞轮开关霍尔标定方法

Switch Hall Calibration Method for Spaceborne Reaction Flywheel

针对开关霍尔测速的卫星姿控反作用飞轮在低速反馈延迟大,导致控制系统低速性能较差的问题,提出了一种开关霍尔标定算法。通过地面测量获得飞轮稳速旋转1个机械周期内各霍尔状态区间对应的时间序列,计算出1个机械周期内各状态区间对应的实际机械角度序列,利用在线标定算法确定该机械角度序列与飞轮旋转过程中实时获取的霍尔脉冲时间序列的最优匹配关系,运用该匹配关系计算飞轮转速。相较于传统周期法,此标定算法极大程度降低了反馈延迟,飞轮低速控制性能由转速低于50 r/min震荡,优化为速度控制精度(@50 r/min)为±0.5 r/min,最低可控转速为7 r/min,速度控制精度(@7 r/min)为±1 r/min。

Aiming at the problem that the satellite attitude control reaction flywheel of switched Hall velocity measurement has a large feedback delay at low speed,which leads to poor performance of control system at low speed,a switched Hall calibration algorithm is proposed.Through ground measurement,a set of time series corresponding to each Hall state interval within one mechanical cycle of the flywheel rotating at a steady speed is obtained;Calculate the actual mechanical angle sequence corresponding to each state interval in a mechanical cycle;The online calibration algorithm is used to determine the optimal matching relationship between the mechanical angle sequence and the Hall pulse time sequence obtained in real-time during the rotation of the flywheel;The matching relation is used to calculate the speed of the flywheel.Compared with the traditional periodic method,applying this calibration algorithm,the low-speed control performance of the flywheel is oscillated by the speed below 50 r/min,and is optimized to the speed control accuracy(@50 r/min)of±0.5 r/min,the minimum controllable speed of 7 r/min,and the speed control accuracy(@7 r/min)of±1 r/min.