CN101214859A - Method for detecting, recovering and controlling for independence trouble during orbital transfer course - Google Patents
Method for detecting, recovering and controlling for independence trouble during orbital transfer course Download PDFInfo
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- CN101214859A CN101214859A CNA2007103015899A CN200710301589A CN101214859A CN 101214859 A CN101214859 A CN 101214859A CN A2007103015899 A CNA2007103015899 A CN A2007103015899A CN 200710301589 A CN200710301589 A CN 200710301589A CN 101214859 A CN101214859 A CN 101214859A
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Abstract
An autonomous fault detection recovery control method during the orbital transfer includes (1) the autonomous fault detection: firstly, setting fault judgment conditions at a star acquisition stage, an inertia attitude adjusting stage, a star directional stage and a rail control directional stage of an autonomous orbital transfer method; introducing judgment conditions during the orbital transfer process; (2) the autonomous recovery control: when a satellite autonomously detects out faults and enters the recovery control, the autonomous control satellite on the star enters a velocity damping stage; when the attitude angular velocity damping of the satellite is successful, the satellite autonomously enters the star acquisition stage; the rail control process is reinstalled, which means that the starting time of every stage during the subsequent orbital transfer process; the satellite transfers into the corresponding working stage to recover the orbital control according to the reinstalled time. The method of the invention improves the reliability of the orbital transfer, ensures the accurate implementation of the orbital control in time and can better ensure the realization of the only window for the orbital control.
Description
Technical field
The present invention relates to a kind of spacecraft and become autonomous fault detection during the rail and independently recover the method controlled,, independently be provided with and become the rail flow process, need not ground and support, can continue the rail control after system failure detection.
Background technology
Autonomous fault detection is meant that satellite under the situation that is not subjected to the ground intervening surface, can carry out fault distinguishing more in time by the fault detection means that set on the star on the star during the control of satellite rail, takes corresponding trouble shooting then.And autonomous recovery control is meant under certain conditions on the star, can recover control on the star of having no progeny in the control voluntarily.
The ground control mode of the many employings of the transfer orbital control of present domestic satellite, in becoming the rail process if the attitude persistent oscillation occurs, after the situations such as tank pressure variation abnormality, by carrying out trouble diagnosing in ground, take measures to turn off the rail control engine then, stop track control.Middle low-orbit satellite has certain ability from the backbone control.But in rail control process, phenomenons such as attitude is unusual occur, still independently withdraw from the rail control stage, thereby stop the rail control.After the rail control stops, treat the ground trouble-shooting after, select a good opportunity again and carry out the rail control.This control policy, deviation is bigger constantly to make the actual enforcement time of rail control and the rail control of requirement, requires not tight satellite rail control more suitable to rail control action opportunity, but no longer suitable for the satellite (as lunar exploration satellite) that the requirement of unique rail control window is arranged.
Summary of the invention
Technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, proposed a kind ofly, independently carried out fault distinguishing on the star, and can independently recover the control method of rail control during the backbone control, can improve the reliability of key change rail, guarantee that track is controlled in time, enforcement exactly.And can guarantee the realization of the unique window of rail control (do not allow to stop rail control then select a good opportunity again carry out the rail control again) better.
Technical solution of the present invention: a kind ofly become that autonomous fault detection recovers the method for control during the rail, it is characterized in that comprising:
(1) autonomous fault detection: at first, in the fixed star acquisition phase and the directed stage of fixed star of autonomous orbit changing method, the setting satellite attitude transfinites and jet amount is the fault judgement condition; In the inertia posture adjustment stage of autonomous orbit changing method, setting the satellite inertia posture adjustment time is the fault judgement condition; In the directed stage of the rail control of autonomous orbit changing method, choosing attitude transfinites and is the fault judgement condition; Then, in becoming the rail process, introduce the fault judgement condition,, satellite attitude and jet amount detected in fixed star acquisition phase and directed stage of fixed star, judge satellite whether attitude transfinite or jet amount too much; In the inertia posture adjustment stage, satellite is carried out the time of inertia posture adjustment and detect, judge the posture adjustment time whether time of posture adjustment exceeds the estimates; In the directed stage of rail control, the attitude of satellite is detected, judge that whether the satellite firing attitude is above restricted portion; If a stage in office detects be out of order,, change the autonomous recovery control stage over to just the rail controlling fault sign is set, if in whole process fault detection, when all not occurring satisfying the situation of fault judgement condition, rail control engine normal shutdown, rail control process finishes.
(2) the autonomous recovery controlled: when satellite independently detects fault, enter when recovering control, the Autonomous Control satellite ingress rate damping stage on the star, under the rate damping stage, according to the mode of operation of star sensor the initial value of Satellite Attitude Estimation is set, utilizes gyro and star sensor integrated attitude determination method correction satellite to estimate attitude simultaneously; After treating the attitude angular velocity damping success of satellite, independently change the fixed star acquisition phase over to, at the fixed star acquisition phase, reset rail control flow process, promptly set the time opening in each stage in the follow-up change rail process, according to the time that resets, satellite independently changes the corresponding work stage over to, recovers the rail control.
The present invention's advantage compared with prior art is:
(1) the present invention introduces suitable fault detection principle in becoming the rail process, can independently stop the rail control, and after a transition period, rail control flow process is set independently, recovers the rail control, and the assurance track is controlled in time, realized exactly.
(2) the present invention has guaranteed promptness, the reliability of transfer orbital control by the autonomous recovery technology of rail control, is a kind of effective measures that guarantee that key change rail point rail control is implemented.
(3) autonomous fault detection of the present invention recover foundation in the method for control from the main transformer rail be that fixed star is caught, the autonomous orbit changing method of the suitable survey of deep space satellite of inertia posture adjustment, fixed star orientation and the combination of rail control oriented phase.
(4) the autonomous orbit changing method of institute of the present invention foundation adopts the Autonomous Control flow process by program time control, simplifies the terrestrial operation flow process that becomes in the rail process, has improved change rail reliability more.
(5) method of autonomous fault detection recovery control of the present invention is reliable.Can be widely used in the track control of all kinds satellite.Be specially adapted to the track control of the spacecraft of key point or unique window change rail requirement.
Description of drawings
Fig. 1 is the autonomous fault detection diagram of circuit of the present invention;
Fig. 2 is a failure recovery control flow chart of the present invention;
The autonomous orbit changing method diagram of circuit that Fig. 3 adopts for the present invention;
Fig. 4 proofreaies and correct the schematic diagram of jet attitude control for PID and filtering based on pulse duration modulation (PWM);
Fig. 5 is PID and filter correction link scheme drawing;
Fig. 6 often is worth input equivalent relation scheme drawing for PWM;
Fig. 7 is a rail control engine double insurance closedown method scheme drawing.
The specific embodiment
Autonomous fault detection recovery control method of the present invention is meant in main transformer rail process, if because certain fault takes place, cause the rail control engine not carry out Ignition Control according to preset program, then satellite independently changes a transition period over to, carry out system reconfiguration, rebulid rail control workflow.And then, finish the track control task according to the rail control time that resets.Wherein, comprise that from main transformer rail process becoming rail prepares and two stages of transfer orbital control.Become the rail new field of technical activity from the fixed star acquisition phase, can enter the directed stage of inertia posture adjustment and fixed star successively according to the control of program time on the star, enter the transfer orbital control stage at last, i.e. rail control orientation is independently finished rail control task, need not the ground intervening surface.
Specific implementation method of the present invention is as follows:
(1) autonomous fault detection:
As shown in Figure 1, be the fault detection diagram of circuit.Autonomous fault detection and the autonomous countermeasure of recovering control on the star in whole rail control process, have all been considered.According to the requirement of satellite orbit control, determine satellite in main transformer rail process each stage the fault detection principle be:
A. fixed star is caught
Fixed star acquisition phase of the present invention is satellite is kept a stable control of cruise attitude (to the day orientation) before becoming rail a working stage.Attitude under this stage mainly adopts momentum wheel to control, and the attitude of satellite should guarantee in certain scope.And, generally speaking, can not trigger jet control.According to these characteristics, satellite attitude transfinited and jet amount too much, set the fault judgement condition in stage for this reason.The present invention uses a kind of embodiment of survey of deep space satellite and sets the fault detection criterion and be: the satellite attitude error estimator is greater than 15 degree, and continuous time was greater than 100 seconds, or the continuous jet number of times of satellite single channel is greater than 40 times.
B. inertia posture adjustment
The inertia posture adjustment stage of the present invention is used for satellite from becoming the control that stable operation stage before the rail transfers the firing attitude that becomes rail to.Because the firing attitude when smooth operation attitude before the Satellite Orbit Maneuver and change rail can be determined by rail control strategy.The control law that satellite is adopted in attitude maneuver (posture adjustment) process is also determined.So the used time of satellite inertia posture adjustment can estimate in advance that result on the estimation can provide the used maximum duration of posture adjustment.The fault detection principle of setting is: if satellite inertia overlong time under the posture adjustment stage then is judged to fault.The inertia posture adjustment posture adjustment time criterion of setting at the survey of deep space satellite of the present invention's application was: above 1200 seconds.
B. fixed star orientation
The directed stage of fixed star of the present invention is satellite keeps the satellite firing attitude before becoming rail a stable Control work stage.This stage is consistent with fixed star acquisition phase fault detection principle.
C. rail control orientation
The directed stage of rail control of the present invention is when being the work of rail control engine, the working stage of attitude stabilization control.Under this stage, adopt the PWM modulator to carry out the attitude stabilization control of satellite, attitude error is less.So under the directed stage of rail control, it is overproof as the fault detection criterion to choose attitude.The satellite that control is had relatively high expectations for track, the attitude error between rail control burn period directly influences the precision of rail control, so the requirement of the onset time of the overproof criterion of attitude is shorter.Take all factors into consideration above-mentioned two kinds of principles and at the survey of deep space satellite that the present invention uses following failure criteria is set: arbitrary attitude error is greater than 10 degree, continuously above 20 seconds in three.
For the fault detection principle and the criterion in above-mentioned each stage, can be according to the spacecraft requirement of practical application, and make proper transformation or revisable coefficient is set in detection threshold with reference to these parameters.
Wherein, the autonomous orbit changing method that autonomous fault detection is adopted divides the change rail to prepare and two stages of transfer orbital control, as shown in Figure 3.Become that rail prepares to comprise that fixed star is caught, inertia posture adjustment, directed stage of fixed star, transfer orbital control is the directed stage of rail control.Flow path switch between above steps is referring to Fig. 1.Except that the fixed star acquisition phase needs Ground Control changes over to, the autonomous switch condition in all the other each stages adopts the program time mode, and promptly the time opening in stage of She Dinging arrives, and Control Software Autonomous Control satellite changes the corresponding work stage over to.
The fixed star acquisition phase used before satellite is set up rail control firing attitude.Mainly carry out accurate attitude and determine, demarcate gyro wander and accelerometer zero offset.Adopt gyro to estimate the inertia attitude that the method that combines with the star sensor correction is determined satellite, adopt jet phase plane and momentum wheel to jointly control satellite attitude.This stage is changed over to by Ground Control under the normal circumstances.When rail control segment fault, can independently enter by the rate damping stage.Program time arrives, and independently changes the inertia posture adjustment stage over to.
The function in inertia posture adjustment stage is for realizing satellite wide-angle attitude maneuver.Be mainly used in and become the rail new field of technical activity and set up the satellite firing attitude.This stage utilizes the gyro wander of demarcating in the take off data of gyro and the fixed star acquisition procedure to estimate satellite inertia attitude.Use the jet control law of phase plane to carry out attitude control.At this moment, momentum wheel keeps nominal speed, does not participate in attitude control.This stage is independently changed over to according to program time by the fixed star acquisition phase.Program time is to independently producing to the directed stage of fixed star.
The directed stage of fixed star is mainly used in satellite and sets up rail control firing attitude Steady-State Control afterwards, utilizes star sensor that satellite attitude is carried out the filtering correction, but the gyro wander of demarcating is not revised.Independently enter according to program time by the inertia posture adjustment stage.Program time arrives, and independently produces the directed stage of rail control.
The directed stage of rail control is used for the attitude stabilization control between control of rail control engine open and close machine and burn period.The disturbance torque of considering the igniting of rail control engine is big, may excite liquid propellant sloshing and solar array flexible vibration, has designed based on the PID and the filtering of pulse duration modulation (PWM) and has proofreaied and correct jet attitude control.This stage momentum wheel keeps nominal speed.Rail control start takes to inject in advance the autonomous program control igniting of on time, and the control method of velocity increment and time double insurance shutdown is adopted in rail control shutdown, as shown in Figure 5.This stage was independently changed over to according to program time by the directed stage of fixed star, independently produced after the rail control shutdown.
The control principle of proofreading and correct jet attitude control based on the PID of pulse duration modulation (PWM) and filtering as shown in Figure 4.PID and correcting filter as shown in Figure 5, input is satellite attitude angle (U
p) and attitude angular velocity (U
d) the measurement estimated valve.Be output as the controlling quantity that satellite needs.The equivalent relation of pulse duration modulation (PWM) as shown in Figure 6.H1 wherein, H2, Tm are the modulator control parameter, and input is the controlling quantity that PID and filtering correction link calculate, and output is the pulse width signal of thruster.Pulse width modulation algorithm is:
Wherein W=Y is the input of modulator, i.e. the needed controlling quantity of satellite, W
cBe the output signal of modulator, with this signal W
CBe added to accumulative total point of ignition P
WIIn, can generate the pulse width signal of thruster.
PWI＝PWI-W
c·Δt·sgn(Y)
PW＝PWI
PWI＝PWI-PW
T
j＝|PW|
Wherein: Δ t is a control cycle, and sgn () is a symbolic function, T
jControl pulsewidth for thruster; PW is for calculating the jet pulsewidth that derives; PWI is remaining jet amount, and initial value is zero.
The detailed description of this control method also can be referring to (" Aerospace Control " first phase in 2005 be entitled as article or other the relevant books or the document of " the attitude control research the during control of lunar exploration Satellite Orbit Maneuver ").
Rail control velocity increment and time double insurance shutdown control method are meant, in rail control engine shutdown a time interval is set around the nominal time, the interval rail control engine of forbidding before shuts down at this moment, the interval rail control engine of forcing afterwards shuts down at this moment, within the interval, then adopt the velocity increment of accelerometer measures to carry out the shutdown control of rail control engine at this moment.As shown in Figure 7.t
Fireon, t
oBe respectively rail control engine nominal switching on and shutting down constantly.t
1For forbidding the unused time (being the starting point in time interval), t
2Be forced shutdown time (being the terminal point in time interval).
Shutdown period interval [t
1, t
2] moment method to set up of two end points is, the rail control engine switching on and shutting down moment definite according to satellite rail control strategy, calculate the on time length of the control engine nominal of overstepping the limit, calculate interval two end points of the control unused time of overstepping the limit then with respect to rail control engine start relative time length constantly, the final moment of determining interval two end points of shutdown.Concrete method of calculating is as follows:
Δt＝t
o-t
fireon
T
prohoff＝Δt×(1-k)
T
fireoff＝Δt×(1+k)
t
1＝t
frieon+T
prohoff
t
2＝t
fireon+T
fireoff
Wherein, k is the length factor of time interval, k=0.02-0.1, and k can amplify or dwindles according to the requirement of rail control precision.
Engine cutoff control within the time interval, adopt the method for velocity increment shutdown, export according to satellite accelerations instrumentation amount, calculate the acceleration/accel of Satellite Orbit Maneuver process, deduct after the accelerometer zero offset that the fixed star acquisition phase is demarcated, after the start of rail control engine, add up, after waiting to be accumulated to the velocity increment of rail control needs, shut the rail control engine, finish the rail control.
Rail control ignition process medium velocity incremental computations method:
Program time between above-mentioned each stage adopts the following time to determine:
At first the point of ignition according to satellite orbit control begins to calculate the time opening that becomes rail new field of technical activity in each stage forward.According to the attitude capability for correcting of the directed stage attitude filtering correction algorithm of fixed star, can determine the time opening of fixed star orientation.The determining of this time should be able to guarantee correction algorithm with satellite in inertia posture adjustment process because the attitude misalignment that gyro wander causes is adapted to becomes in the scope that rail requires.From the time opening of fixed star orientation, according to the ability (size of posture adjustment cireular frequency) of satellite inertia posture adjustment and the scope that needs posture adjustment, retrodicting is provided with the zero hour of inertia posture adjustment.Owing to during the fixed star acquisition phase, need to demarcate the zero offset of gyro wander and accelerometer, generally need 1 hour at least.According to this time, can before beginning constantly, the inertia posture adjustment push away the time opening that fixed star is caught.
(2) the autonomous recovery controlled
Behind the satellite et out of order, may cause bigger attitude angular velocity, make satellite recover comparatively difficulty of control.So the top priority of failure recovery is that the measuring satellite angular velocities damping is got off.Adopt the rate damping pattern in the present invention, utilized jet control to reduce the attitude angular velocity of satellite.Do not use the rate damping pattern under the normal flight state.Only when rail control section (contain and become rail preparation and transfer orbital control) et out of order, just independently change the rate damping pattern over to, under this pattern, use gyro to measure celestial body cireular frequency and estimate relative attitude angle (attitude angle zero setting when entering this stage), the initial value of Satellite Attitude Estimation independently is set according to the mode of operation of star sensor on the star, introduces star sensor data correction satellite simultaneously and estimate attitude; Carry out jet attitude control by the phase plane control law.Momentum wheel keeps nominal speed.When satisfying the cireular frequency requirement, independently change the fixed star acquisition phase.
The autonomous flow process of recovering is: after independently detecting fault, and the Control Software Autonomous Control satellite ingress rate damping stage.Under the rate damping pattern, satellite carries out rate damping.After treating the attitude angular velocity damping success of satellite, independently change the fixed star acquisition phase over to.Under this pattern, reset rail control flow process, promptly set the time opening of working stage involved in the follow-up rail control process.Computer control software is according to the time that resets on the star, and the control satellite independently changes the corresponding work stage over to, recovers the rail control.The failure recovery flow process as shown in Figure 2.
The criterion of rate damping success is: attitude angular velocity is less than 0.1 degree/second.
The time that resets of failure recovery flow process can for:
t
gon＝max(t
gon，t+60)，t
hon＝max(t
hon，t+450)，t
gi＝max(t
gi，t+600)
T wherein
GonBe inertia posture adjustment time opening, t
HonBe directed 10 time openings of fixed star, t
GiBe the directed time opening of rail control, these three amounts are the amount that ground is injected, and t is the time on the current star of satellite.Wherein, t+60, t+450, can carry out conversion according to different situations at the time of setting on the t+600 failover procedure culminant star.
System described above is a kind of situation of the present invention, and those skilled in the art can carry out under the situation of the present invention variously augmenting, improving and change not departing from according to different requirements and design parameters, and therefore, the present invention is widely.
Claims (9)
1. one kind becomes that autonomous fault detection recovers the method for control during the rail, it is characterized in that comprising:
(1) autonomous fault detection: at first, in the fixed star acquisition phase and the directed stage of fixed star of autonomous orbit changing method, the setting satellite attitude transfinites and jet amount is the fault judgement condition; In the inertia posture adjustment stage of autonomous orbit changing method, setting the satellite inertia posture adjustment time is the fault judgement condition; In the directed stage of the rail control of autonomous orbit changing method, choosing attitude transfinites and is the fault judgement condition; Then, in becoming the rail process, introduce the fault judgement condition,, satellite attitude and jet amount detected in fixed star acquisition phase and directed stage of fixed star, judge satellite whether attitude transfinite or jet amount too much; In the inertia posture adjustment stage, satellite is carried out the time of inertia posture adjustment and detect, judge the posture adjustment time whether time of posture adjustment exceeds the estimates; In the directed stage of rail control, the attitude of satellite is detected, judge that whether the satellite firing attitude is above restricted portion; If a stage in office detects be out of order,, change the autonomous recovery control stage over to just the rail controlling fault sign is set, if in whole process fault detection, when all not occurring satisfying the situation of fault judgement condition, rail control engine normal shutdown, rail control process finishes.
(2) the autonomous recovery controlled: when satellite independently detects fault, enter when recovering control, the Autonomous Control satellite ingress rate damping stage on the star, under the rate damping stage, according to the mode of operation of star sensor the initial value of Satellite Attitude Estimation is set, utilizes gyro and star sensor integrated attitude determination method correction satellite to estimate attitude simultaneously; After treating the attitude angular velocity damping success of satellite, independently change the fixed star acquisition phase over to, at the fixed star acquisition phase, reset rail control flow process, promptly set the time opening in each stage in the follow-up change rail process, according to the time that resets, satellite independently changes the corresponding work stage over to, recovers the rail control.
2. according to claim 1ly a kind ofly become that autonomous fault detection recovers the method for control during the rail, it is characterized in that described autonomous orbit changing method is meant:
(1) fixed star is caught: before satellite is set up rail control firing attitude, estimate the inertia attitude of satellite, carry out satellite attitude control, utilize star sensor information to demarcate gyro wander, utilize the telemetry data of accelerometer to demarcate the accelerometer zero offset;
(2) inertia posture adjustment: when the program time that is provided with then, the fixed star acquisition phase changes the inertia posture adjustment stage automatically over to, be used to set up satellite rail control firing attitude, the realization satellite attitude is motor-driven, utilize the gyro wander of demarcating in the take off data of gyro and the fixed star acquisition procedure to estimate satellite inertia attitude, utilize jet control to carry out satellite attitude control;
(3) fixed star orientation: when the program time that is provided with then, the inertia posture adjustment stage changes the directed stage of fixed star automatically over to, carries out Steady-State Control after satellite is set up rail control firing attitude, utilizes star sensor that satellite attitude is carried out the filtering correction;
(4) rail control orientation: when the program time that is provided with then, the directed stage of fixed star changes the directed stage of rail control automatically over to, carries out the control of rail control engine open and close machine, determines the firing attitude of satellite, and carries out the attitude stabilization control between burn period.
3. according to claim 2ly a kind ofly become that autonomous fault detection recovers the method for control during the rail, it is characterized in that: the program time of the setting described in step (1), step (2) and the step (3) is meant the on time of at first determining the rail control engine, be the point of ignition of satellite orbit control, from then on the time begins to calculate the time opening that becomes rail new field of technical activity in each stage forward; Attitude capability for correcting according to the directed stage attitude filtering correction algorithm of fixed star, can determine the time opening of fixed star orientation, the time in directed stage of fixed star to guarantee correction algorithm with satellite in inertia posture adjustment process because the attitude misalignment that gyro wander causes is adapted to becomes in the scope that rail requires; From the time opening of fixed star orientation, according to the ability of satellite inertia posture adjustment and the scope of needs posture adjustment, retrodicting is provided with the zero hour of inertia posture adjustment; At the fixed star acquisition phase, need to demarcate the zero offset of gyro wander and accelerometer, need 1 hour at least, according to this time demand, can before beginning constantly, the inertia posture adjustment push away the time opening that fixed star is caught.
4. according to claim 2ly a kind ofly become that autonomous fault detection recovers the method for control during the rail, it is characterized in that: carry out satellite attitude control in the described step (1) and adopt the method that phase plane is jet and momentum wheel jointly controls.
5. according to claim 2ly a kind ofly become that autonomous fault detection recovers the method for control during the rail, it is characterized in that: the jet control method of proofreading and correct based on the proportional plus integral plus derivative controller P I D and the filtering of pulse-width modulation PWM is adopted in the attitude stabilization control in the described step (4) during the igniting.
6. according to claim 2ly a kind ofly become that autonomous fault detection recovers the method for control during the rail, it is characterized in that: the start of rail control engine takes to inject in advance the autonomous program control igniting of on time in the described step (4), the control method of velocity increment and time double insurance shutdown is adopted in the shutdown of rail control engine, rail control velocity increment and time double insurance shutdown control method are meant, in rail control engine shutdown a time interval is set around the nominal time, the interval rail control engine of forbidding before shuts down at this moment, the interval rail control engine of forcing afterwards shuts down at this moment, within the interval, then adopt the velocity increment of accelerometer measures to carry out the shutdown control of rail control engine at this moment.
7. according to claim 1 and 2ly a kind ofly become that autonomous fault detection recovers the method for control during the rail, it is characterized in that: described fixed star is caught under normal circumstances and is entered by Ground Control, can independently be entered by the rate damping pattern when breaking down in the change rail stage.
8. according to claim 1ly a kind ofly become that autonomous fault detection recovers the method for control during the rail, it is characterized in that: when described satellite has the backup thruster, then under the rate damping pattern, at first switch to the thruster work of backing up in the step (2).
9. according to claim 1ly a kind ofly become that autonomous fault detection recovers the method for control during the rail, it is characterized in that: the condition of the attitude angular velocity damping success described in the step (2) is: attitude angular velocity is less than 0.1 degree/second.
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