CN101477376A - Fault injection device and method for spacecraft actuating mechanism - Google Patents
Fault injection device and method for spacecraft actuating mechanism Download PDFInfo
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Abstract
The invention discloses a fault injection device for a spacecraft actuating mechanism and a fault injection method thereof, and belongs to the field of fault analysis and reliability verification of the actuating mechanism. The device comprises a main board, a multi-channel data acquisition card, a multi-channel analog output card, a man-machine interface, a direct current stabilized voltage supply and a signal adapter plate. The method comprises steps of extracting control instruction signals and rotating speed feedback signals of the actuating mechanism and processing the signals to obtain pseudo instruction signals and pseudo rotating speed feedback signals. The fault injection method realized by combination of software and hardware carries out fault injection on the spacecraft actuating mechanism. The fault injection method realizes fault injection for the actuating mechanism, accelerates generation of faults of the system, and improves fault diagnosis efficiency of the system; and the fault injection device has the advantages of low cost, strong operability, and convenient and reliable use.
Description
Technical field
The present invention relates to a kind of spacecraft topworks's fault injection device and fault filling method thereof, belong to the topworks's fault analysis and the reliability demonstration field in spacecraft attitude control system semi-physical simulation stage.
Background technology
Failure Injection Technique is an important means for tolerant system performance evaluation, and it is by introducing fault quicken the to test and assess process of the test of fault tolerant mechanism consciously in system.Spacecraft development cost height, cycle are long, for guarantee spacecraft can the long-life, highly reliable operation, need fully carry out certificate authenticity to each link of spacecraft.And emergency processing under the spaceborne topworks failure condition and fault detection and diagnosis link are exactly a link that needs abundant experiment on ground.The fault injection device of the present invention narration and method be to adopt certain strategy artificially fault to be incorporated in the spacecraft topworks, thereby add the inefficacy of speed actuating mechanism, for the reliability demonstration of attitude control system scheme provides precondition.
Inject implementation method according to fault, can be divided into simulated failure injection and physical fault and inject two kinds, the physical fault method for implanting can be divided into the fault injection that hardware is realized and software is realized again.
The effect difference that different fault filling methods produces same goal systems, thereby the efficient that fault is injected is also different.Select a kind of appropriate method for implanting not only to save the injection effect that drops into and bring, and for particular system, have only probably and could realize effective fault injection someway, such as system based on black box, code is invisible, limited access rights only are provided, at this time can only have adopted method with interface alternation.Therefore, inject for the fault of goal systems, it is extremely important to choose the fault filling method that is fit to system.
Simulated failure is injected does not need special hardware supported, and expense is cheap.But, set up relatively difficulty of system model by the method for simulation for the goal systems spacecraft topworks of this paper.Topworks forms complicated, and components and parts are various, use hardware description language to realize the system simulation model under the situation that satisfies certain degree of accuracy requirement, and the development amount will be very huge.
A main problem of hardware fault method for implanting is: it directly is injected into fault in the hardware of goal systems, promptly needs a complete hardware system to be injected.In this article, if adopt hard-wired fault filling method, must set up the hardware model of satellite attitude control system part so, to be used for the fault injection experiments.But the hardware model technical requirement height, the quantities that realize the satellite posture control system are big, of a high price.And along with the density of system in package is more and more higher, also more and more difficult when hardware fault is injected to the visit of injecting node, and infringement may be arranged for goal systems.Therefore, the fault injection of the expensive development cost of this class of spacecraft component is injected and be not suitable for to hardware fault.
The fault filling method that software is realized is according to certain fault model, by software approach, by revising hardware or the state variable of software or the generation that data are come simulated failure.It need not extra hardware device, can select the fault injection phase on hardware that programmed instruction can have access to or software, and fault injector is realized simple.But simple software fault inject can not simulates real real part spare situation, be difficult to approach real system.
Summary of the invention
The technical problem to be solved in the present invention is to propose device and the fault filling method thereof that a kind of spacecraft topworks fault is injected at the defective that prior art exists.
Spacecraft of the present invention topworks fault injection device is characterized in that comprising: mainboard, multi-channel data acquisition card, multichannel analog output card, man-machine interface, direct-flow voltage regulation source and Signals Transfer Board; The input end of the output termination multi-channel data acquisition card of Signals Transfer Board wherein, the input end of the output termination mainboard of multi-channel data acquisition card, the input end of the output termination multichannel analog output card of mainboard, the input end of the output termination Signals Transfer Board of multichannel analog output card, man-machine interface is electrically connected with mainboard, and the output terminal of D.C. regulated power supply connects the power interface of mainboard, the power interface of multi-channel data acquisition card, the power interface of multichannel analog output card respectively.
The method that the fault of described spacecraft topworks fault injection device is injected is characterized in that comprising the steps:
A.) adopting man-machine interface that fault type is set is stuck fault, gradual fault or normal value biasing fault;
B.) adopt the multi-channel data acquisition cartoon to cross the command signal that Signals Transfer Board receives spaceborne computer output;
C.) fault type that step a is provided with and the described command signal of step b are successively through mainboard, multichannel analog output card, Signals Transfer Board output pseudoinstruction signal;
D.) adopt the described pseudoinstruction signal of the receiving step c of topworks output speed signal;
E.) the described tach signal of steps d is exported pseudo-tach signal to spaceborne computer by Signals Transfer Board behind process Signals Transfer Board, multi-channel data acquisition card, mainboard, the multichannel analog output card successively again.
The fault filling method that the present invention adopts the software combined with hardware to realize carries out fault to spacecraft topworks and injects.Method therefor of the present invention realizes that topworks carries out fault and injects under situation about topworks's physical unit not being damaged, the generation of accelerating system fault improves system fault diagnosis efficient; All play an important role for the fail-safe analysis of attitude control system scheme and the checking of topworks's fault handling situation.Fault injection device cost is low, and is workable, easy to use, reliable.
Description of drawings
Fig. 1: spacecraft topworks fault injecting principle block diagram;
Fig. 2: hardware structure diagram of the present invention;
Fig. 3: embodiment of the invention structural drawing;
Fig. 4: spacecraft topworks fault is injected software flow pattern.
Embodiment
As shown in Figure 1.The hardware that spacecraft topworks fault is injected comprises spaceborne computer, fault injection device, human-computer interaction interface and topworks.
As shown in Figure 2.Spacecraft of the present invention topworks fault injection device comprises: mainboard, multi-channel data acquisition card, multichannel analog output card, man-machine interface, direct-flow voltage regulation source and Signals Transfer Board; The input end of the output termination multi-channel data acquisition card of Signals Transfer Board wherein, the input end of the output termination mainboard of multi-channel data acquisition card, the input end of the output termination multichannel analog output card of mainboard, the input end of the output termination Signals Transfer Board of multichannel analog output card, man-machine interface is electrically connected with mainboard, and the output terminal of D.C. regulated power supply connects the power interface of mainboard, the power interface of multi-channel data acquisition card, the power interface of multichannel analog output card respectively.
The method that the fault of described spacecraft topworks fault injection device is injected comprises the steps:
A.) adopting man-machine interface that fault type is set is stuck fault, gradual fault or normal value biasing fault;
B.) adopt the multi-channel data acquisition cartoon to cross the command signal that Signals Transfer Board receives spaceborne computer output;
C.) fault type that step a is provided with and the described command signal of step b are successively through mainboard, multichannel analog output card, Signals Transfer Board output pseudoinstruction signal;
D.) adopt the described pseudoinstruction signal of the receiving step c of topworks output speed signal;
E.) the described tach signal of steps d is exported pseudo-tach signal to spaceborne computer by Signals Transfer Board behind process Signals Transfer Board, multi-channel data acquisition card, mainboard, the multichannel analog output card successively again.
The fault type that is provided with comprises: (1) stuck fault: gather topworks's feedback signal, its instantaneous feedback signal Processing is become pseudo-tach signal, promptly get 0 also output, stuck fault takes place in Simulation execution mechanism; (2) gradual fault: this fault model generates the failure function of a linear time-varying, is injected into topworks, the gradual fault of Simulation execution mechanism; (3) normal value biasing fault: this fault model normal value signal that superpose on topworks's feedback signal comprehensively becomes the pseudo-feedback signal of topworks and exports.
As shown in Figure 3, with the flywheel is that topworks illustrates fault injection device and method for implanting, flywheel and fault injection device are inserted certain small satellite attitude control semi-physical simulation closed loop, this loop comprises following components: the satellite motion simulation computer is used to calculate the attitude of satellite and orbital motion equation; Satellite borne sensor is used for responsive current attitude of satellite information, and spaceborne computer is gathered attitude information, calculates through control law, provides the flywheel command information, and the fault injection device is injected into flywheel according to the fault mode of current system state and selection with fault.The main hardware interface has:
1, flywheel rotary speed instruction passage, flywheel speed feedback signal, the pseudo-feedback signal of flywheel after the fault injection device is handled are inserted signal by card extender the AD650 multi-channel data acquisition card of fault injection device;
2, the flywheel pseudoinstruction signal after will handling through the fault injection device inserts XMM1612 multichannel analog output card; It is main board power supply that direct-flow voltage regulation source is given the PC104 composite module.Open the fault injecting program.
The concrete job step of fault injection device is as follows:
(1) the relative speed variation scope under the setting flywheel normal operating conditions;
(2) from man-machine interface, injecting the flywheel failure message is stuck fault;
(3) AD650 multi-channel data acquisition card is gathered the flywheel command signal that spaceborne computer provides;
Inject information (that is: stuck fault) according to fault, the fault injection device for being treated to 0 value, is exported to momenttum wheel with momenttum wheel pseudoinstruction signal;
(4) gather the flywheel feedback signal.If the momenttum wheel telemetering of speed of revolutions is non-0, then the fault injection device is processed into 0 with the flywheel speed feedback signal, and this signal is called pseudo-speed feedback signal, sends to spaceborne computer.
(5) the fault injection device is judged according to the rated speed rate of change scope of flywheel relative speed variation and setting, analyze pseudo-feedback signal of flywheel and the relation of injecting fault, if exceed the rated speed rate of change scope that flywheel is set, assert that then stuck phenomenon of the failure has taken place flywheel, illustrate that then fault injects successfully.
As shown in Figure 4, inject software flow pattern for topworks's fault.
Claims (2)
1. a spacecraft topworks fault injection device is characterized in that comprising: mainboard, multi-channel data acquisition card, multichannel analog output card, man-machine interface, direct-flow voltage regulation source and Signals Transfer Board; The input end of the output termination multi-channel data acquisition card of Signals Transfer Board wherein, the input end of the output termination mainboard of multi-channel data acquisition card, the input end of the output termination multichannel analog output card of mainboard, the input end of the output termination Signals Transfer Board of multichannel analog output card, man-machine interface is electrically connected with mainboard, and the output terminal of D.C. regulated power supply connects the power interface of mainboard, the power interface of multi-channel data acquisition card, the power interface of multichannel analog output card respectively.
2. a method of injecting based on the fault of the described spacecraft of claim 1 topworks fault injection device is characterized in that comprising the steps:
A.) adopting man-machine interface that fault type is set is stuck fault, gradual fault or normal value biasing fault;
B.) adopt the multi-channel data acquisition cartoon to cross the command signal that Signals Transfer Board receives spaceborne computer output;
C.) fault type that step a is provided with and the described command signal of step b are successively through mainboard, multichannel analog output card, Signals Transfer Board output pseudoinstruction signal;
D.) adopt the described pseudoinstruction signal of the receiving step c of topworks output speed signal;
E.) the described tach signal of steps d is exported pseudo-tach signal to spaceborne computer by Signals Transfer Board behind process Signals Transfer Board, multi-channel data acquisition card, mainboard, the multichannel analog output card successively again.
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| CN102566567A (en) * | 2012-02-20 | 2012-07-11 | 浙江大学 | Electronic control unit (ECU) sensor signal fault injection device for engine hardware in-the-loop simulation (HILS) system |
| CN102779104A (en) * | 2011-05-09 | 2012-11-14 | 北京旋极信息技术股份有限公司 | Fault injection method and device for serial port data |
| CN103559112A (en) * | 2013-11-05 | 2014-02-05 | 北京经纬恒润科技有限公司 | Software fault injection method and system |
| CN106200614A (en) * | 2016-07-15 | 2016-12-07 | 北京控制工程研究所 | A kind of spacecraft appearance control test system and method using the true moment of control-moment gyro |
| CN106774280A (en) * | 2017-01-22 | 2017-05-31 | 上海航天控制技术研究所 | Method for automatic fault diagnosis on a kind of counteraction flyback star |
| CN111176310A (en) * | 2019-12-31 | 2020-05-19 | 北京星际荣耀空间科技有限公司 | Test method, device and system for carrier rocket attitude control system |
| CN112051039A (en) * | 2019-06-05 | 2020-12-08 | 大连中和聚能自动控制系统有限公司 | Experiment table system for fault simulation of pneumatic actuating mechanism |
| CN112821433A (en) * | 2021-04-19 | 2021-05-18 | 沈阳微控新能源技术有限公司 | Control method of flywheel array energy storage system, energy storage system and power grid system |
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| CN102495824B (en) * | 2011-11-15 | 2015-03-18 | 上海卫星工程研究所 | Method for generating multi-channel analog signals with different frequencies on same analog output card |
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- 2009-01-14 CN CN2009100281381A patent/CN101477376B/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102779104A (en) * | 2011-05-09 | 2012-11-14 | 北京旋极信息技术股份有限公司 | Fault injection method and device for serial port data |
| CN102566567A (en) * | 2012-02-20 | 2012-07-11 | 浙江大学 | Electronic control unit (ECU) sensor signal fault injection device for engine hardware in-the-loop simulation (HILS) system |
| CN103559112A (en) * | 2013-11-05 | 2014-02-05 | 北京经纬恒润科技有限公司 | Software fault injection method and system |
| CN103559112B (en) * | 2013-11-05 | 2015-11-25 | 北京经纬恒润科技有限公司 | A kind of software fault injection method and system |
| CN106200614A (en) * | 2016-07-15 | 2016-12-07 | 北京控制工程研究所 | A kind of spacecraft appearance control test system and method using the true moment of control-moment gyro |
| CN106200614B (en) * | 2016-07-15 | 2018-12-21 | 北京控制工程研究所 | A kind of spacecraft attitude control test macro and method using the true torque of control-moment gyro |
| CN106774280A (en) * | 2017-01-22 | 2017-05-31 | 上海航天控制技术研究所 | Method for automatic fault diagnosis on a kind of counteraction flyback star |
| CN106774280B (en) * | 2017-01-22 | 2019-01-18 | 上海航天控制技术研究所 | Method for automatic fault diagnosis on a kind of counteraction flyback star |
| CN112051039A (en) * | 2019-06-05 | 2020-12-08 | 大连中和聚能自动控制系统有限公司 | Experiment table system for fault simulation of pneumatic actuating mechanism |
| CN111176310A (en) * | 2019-12-31 | 2020-05-19 | 北京星际荣耀空间科技有限公司 | Test method, device and system for carrier rocket attitude control system |
| CN112821433A (en) * | 2021-04-19 | 2021-05-18 | 沈阳微控新能源技术有限公司 | Control method of flywheel array energy storage system, energy storage system and power grid system |
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