摘  要：为满足微纳卫星对微小飞轮数字控制系统集成化、小体积、低功耗和高精度的要求，建立了微小飞轮的数学模型，提出一种基于多开关霍尔的速率反馈干扰力矩补偿方法，设计了以FPGA为核心的数字控制系统，在FPGA上实现了PID控制、换相逻辑、PWM、RS232串口通信、转速测量以及电流的A/D采样触发等时序逻辑功能。实验结果表明，该力矩模式高集成度数字控制系统硬件实现简单、体积小、功耗低、可靠性高，并验证了基于多开关霍尔速率反馈干扰力矩补偿方法的有效性，实现了微小飞轮高精度力矩模式控制。
关键词：微小飞轮；现场可编程门阵列；永磁无刷直流电机；力矩补偿

Abstract: The vigorous development of micro-nano satellites continually increase the requirement of mini flywheel.To satisfy the demand of integration,little volume,low power consumption and high precision,the mini flywheel‘s mathematical model was established and a torque compensation method on the basis of multi switch halls velocity feedback was presented.Designed a digital control system based on the field programmable gate array(FPGA),and implemented the various timing logic functions,including the PID control arithmetic,the commutation signal generating module for the inverter,the pulse-width-modulation(PWM)generating module,the RS-232 serial communication,the rotating speed measuring module and the A/D sampling module.The experimental results show that the hardware realization of this system fulfills the demands of simplicity,miniaturization,low power consumption and reliability,the validity of the disturbance torque compensation method is validated,and the torque compensation method for mini flywheel meets the request of high precision attitude stability.
Key Words: Mini flywheel;Field programmable gate array;Brushless DC motor;Torque compensation