【作者】 戴彦；

【导师】 张迎春；

【作者基本信息】 哈尔滨工业大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 姿态控制系统设计是现代卫星平台的一项关键技术。本文以三轴稳定卫星姿态控制为应用背景,研究了基于FPGA的姿态控制器与星载设备的串口通信以及控制器的硬件实现。采用四元数描述卫星姿态,建立卫星姿态运动学与动力学模型,采用星敏感器/陀螺作为测量元件,零动量飞轮作为执行机构。为便于对比研究基于FPGA的控制器的有效性,设计PID控制器,并进行闭环姿态控制系统的数学仿真。通过分析通用异步串行收发器的特点,根据串行协议的接口特性设计发送模块和接收模块,并进行ModelSim时序仿真,为将硬件控制器接入星载设备进行硬件在回路仿真做准备。将PID算法数字化,综合考虑运行速度和占用资源的平衡,设计了PID控制算法电路以及基于Booth算法的乘法器逻辑电路,基于Verilog HDL语言,采用状态机方法编写程序,实现基于FPGA的卫星姿态控制器的硬件设计,并与数学仿真结果进行对比研究,验证其有效性与可实现性。本文设计并实现了基于FPGA的PID控制器在卫星姿态控制系统硬件回路中的应用,为姿态控制系统的研究提供新的思路。更多还原

【Abstract】 Attitude control system design is one of the key technologies of modern satellites. This paper taking the three-axis stabilizing satellite as an example, studies serial communication between attitude control system and equipment on satellite and control on hardware based on FPGA.Using quaternion to describe satellite attitude, it sets up the attitude kinematics and dynamic models, which uses star sensors/ gyros as measurement sensors, zero momentum flywheels as actuators. Based on classic control theory, a PID controller is designed; this conclusion is proven by the result of simulation. According to analyze the features UART, the UART module is parted two submodule: transmitter module and Receive module. Simulation results show it can achieve prearrange function.Considering running speed and occupiers resource balance, designs PID controller algorithm circuit and Multiplier logic circuit based on booth algorithm. Using Verilog HDL to write program, it implement the hardware design of satellite attitude control FPGA-based. Compared the simulation based hardware with the simulation of matlab, the result shows that the PID controller based on FPGA is effective.This controller FPGA-based subsystem reserved the serial interface of attitude sensor, which can be directly connected with actual system. It can reduce the burden of satellite computer because of hardware processing instead of software processing. This paper provides a new way for satellite attitude control system.更多还原