基于ZYNQ的小卫星姿控电模拟器设计及验证

发布时间：2018-05-21 21:27

本文选题：姿控模拟器 + ZYNQ　；参考：《哈尔滨工业大学》2016年硕士论文

【摘要】：卫星姿控系统是卫星的重要组成部分,起到控制卫星姿态的作用。姿控电模拟器主要用来替代星上的真实部件完成卫星姿控系统的地面闭环仿真测试。传统的卫星姿控模拟器受到处理器性能、系统架构等多方面原因的影响,已经无法满足在性能指标上更为严格的需求。针对上述问题,本文研制了一种通用化程度高、精度高、实时性好的小卫星姿控电模拟器。本文首先提出模拟器的总体设计需求,并从接口、模型解算、软件通用化等四个方面对典型的敏感器类和执行机构类模拟器的需求进行了详细的分析。在此基础上提出课题的总体方案:在嵌入式开发平台ZYNQ上进行小卫星姿控电模拟器的设计及验证。在此平台PS端(Processing System,PS)实现模拟器中涉及到的模型解算,在PL端(Programmable Logic,PL)实现电气接口功能。采用软硬件协同设计的设计方法,进行小卫星模拟器的设计。该方案可以实现模拟器较好的通用性和实时性。PL固件部分设计了7个控制模块,用来实现模拟器与外部设备的通信;PS软件部分,设计了13个软件程序功能模块,用来实现软件程序的通用化。除此之外,本课题对模型解算中涉及到的一阶微分方程的实现方法进行了分析,最终采用四级龙格-库塔法实现模型解算。课题最终采用三种代表性的模拟器:飞轮模拟器、太阳敏感器模拟器和控制力矩陀螺(也称CMG,Control Moment Gyroscope)模拟器,验证在此平台上设计的模拟器的功能、优势以及不足。验证结果表明,本文设计的小卫星姿控电模拟器能够很好的实现与外部设备的数据传输功能以及模型解算功能;能够很好的满足系统性能指标要求:闭环仿真时间小于10ms,模型解算精度达到32位。模拟器的功能和技术指标满足设计要求。
[Abstract]:Satellite attitude control system is an important part of satellite and plays a role in controlling satellite attitude. The attitude control simulator is mainly used to replace the real satellite components to complete the ground closed loop simulation test of the satellite attitude control system. The traditional satellite attitude control simulator is affected by processor performance, system architecture and other reasons, and can not meet the more stringent performance requirements. In order to solve the above problems, a small satellite attitude control simulator with high generalization, high precision and good real-time performance is developed in this paper. In this paper, the general design requirements of simulator are put forward, and the requirements of typical sensors and actuator simulator are analyzed in detail from four aspects: interface, model solution and software generalization. On this basis, the overall scheme of the subject is put forward: the design and verification of the small satellite attitude control simulator based on the embedded development platform ZYNQ. The model solution involved in the simulator is realized on the PS platform, and the electrical interface function is realized in the PL terminal programmable logic device (PLL). The software and hardware co-design method is used to design the small satellite simulator. This scheme can realize the better generality and real-time of the simulator. The firmware part of PL has designed 7 control modules, which are used to realize the communication between the simulator and the external equipment in PS software part, and 13 software program function modules have been designed. Used to generalize software programs. In addition, this paper analyzes the realization method of the first order differential equation in the solution of the model, and finally uses the four levels Runge-Kutta method to solve the model. Finally, three typical simulators are adopted: flywheel simulator, sun sensor simulator and control moment gyroscope simulator. The functions, advantages and disadvantages of the simulator designed on this platform are verified. The verification results show that the small satellite attitude control simulator designed in this paper can achieve the function of data transmission with external equipment and the function of model solution. The closed loop simulation time is less than 10msand the precision of the model is 32 bits. The function and technical specifications of the simulator meet the design requirements.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V448.22

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