CN102050228A - Method for diagnosing spraying tube blocking fault by using combination of spinning top and air spraying time - Google Patents
Method for diagnosing spraying tube blocking fault by using combination of spinning top and air spraying time Download PDFInfo
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- CN102050228A CN102050228A CN2010105092016A CN201010509201A CN102050228A CN 102050228 A CN102050228 A CN 102050228A CN 2010105092016 A CN2010105092016 A CN 2010105092016A CN 201010509201 A CN201010509201 A CN 201010509201A CN 102050228 A CN102050228 A CN 102050228A
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Abstract
The invention relates to a method for diagnosing a spraying tube blocking fault by using the combination of spinning top and air spraying time, which comprises the following steps of: (1) calculating corresponding angle speed increments of spinning top measurement outputs on an x-axis, a y-axis and a z-axis of a satellite and the air spraying quantity of a control cycle propelling system in the three coordinate axis; (2) adding one to diagnosis mark positions of the spinning top and the spraying air when someone coordinate axis simultaneously meets the two conditions that the accumulation quantity of the spraying air in 10s is more than m seconds and the angle speed change quantity is less than 0.001 radian/s, otherwise, zero-clearing the diagnosis mark positions; and (3) judging whether the spinning top meets the balance equation or not, if not, judging that the spinning top has a fault when the diagnosis mark positions of the spinning top and the spraying air are more than 0; if so, judging that the spraying tube is blocked and switching the branch of the spraying tube for one time when the diagnosis mark positions of the spinning top and the spraying air are more than 0. The method can be used for carrying out ontrack self-diagnosis on the blocking of the spraying tube when the satellite works under the condition that the posture is controlled by using the spinning top information and an air spraying torque.
Description
Technical field
The present invention relates to a kind of method of satellite propulsion system trouble diagnosing, particularly relate to a kind of method of utilizing gyro and jet time to unite diagnosis jet pipe plugging fault.
Background technology
Gyro and propulsion system are the indispensable equipment of satellite in operating periods such as attitude maneuver and track adjustment, at this moment, the attitude of satellite changes greatly or outer the disturbing greatly that is subjected to, if gyro or propulsion system et out of order, satellite probably loses attitude reference, its consequence will directly have influence on the safety of satellite, even can have influence on the life-span of satellite.And most of satellite can not be monitored in real time by ground, so the ability that possesses autonomous diagnosis gyro and propulsion system failure on the star is necessary.
At present the satellite major part in rail flight all disposes gyro and propulsion system, and gyro generally must use when jet control as the measurement sensor of Satellite Angle speed, and this is feasible must to have certain contact between the two.When satellite used jet control, because jet moment is bigger, the angular velocity varies of celestial body was also bigger, can make a cover according to this rule and unite diagnotic method based on jet and gyro, realization gyro and jet at the rail automatic fault diagnosis.In addition, when system design, for the consideration of safety and reliability, propulsion system has all been carried out Redundancy Design, and general propulsion system comprises the independently jet branch of two covers, and each jet branch is controlled by a latching valve.By the switching of jet latching valve, can adjust the jet branch of current use, thereby reach purpose the excision of problem jet pipe.
Though Control Subsystem all possessed parts automatic fault diagnosis ability on the star in the past, but to the trouble diagnosing of propulsion system general all with the force value of pressure sensor as diagnosis basis, this mode has certain diagnosis capability to gas leakage, but stops up then powerless to jet pipe.
Summary of the invention
The objective of the invention is to overcome the above-mentioned defective of prior art, a kind of method of utilizing gyro and jet time to unite diagnosis jet pipe plugging fault is provided, this method both can have been diagnosed the fault of gyro, also can diagnose the blockage problem of jet pipe in the propulsion system, when diagnosing out when having jet pipe to stop up,, can change the branch of the propulsion system of current use by switching latching valve, thereby excise problematic jet pipe, guarantee that satellite has normal jet moment.
Above-mentioned purpose of the present invention is achieved by following technical solution:
A kind of method of utilizing gyro and jet time to unite diagnosis jet pipe plugging fault comprises the steps:
(1) gathers gyro G in each control cycle
x, G
y, G
zMeasure output at satellite Cartesian coordinates * axle, the cooresponding cireular frequency increment of y axle and z axle
Calculate the interior satellite of each control cycle simultaneously at the x axle, the cooresponding angular velocity varies amount of y axle and z axle
Wherein: gyro G
x, G
y, G
zRepresentative is installed in Cartesian coordinates x axle, the gyro on y axle and the z axle respectively; I represents the x axle, y axle or z axle;
Representative
Representative
Δ t represents control cycle; N represents n control cycle, and n is a positive integer;
(2) gather the interior propulsion system output of each control cycle at satellite Cartesian coordinates x axle, the cooresponding jet amount of y axle and z axle
To the x axle, the angular velocity varies amount of y axle and z axle
With jet amount
The 10s that adds up continuously obtains angular velocity varies amount accumulated value
With jet amount accumulated value
When the x axle, when the i axle satisfies following two conditions simultaneously in y axle and the z axle in described 10s, make gyro+jet diagnostic markers position add 1, otherwise gyro+jet diagnostic markers position is 0:
Jet amount accumulated value
Second,
The accumulated value of angular velocity varies amount
Radian/s,
Wherein: the codomain of m is between 2 to 3;
(3) if gyro G
x, G
y, G
zAnd G
sThe cireular frequency increment of output
With
Do not satisfy equation of equilibrium
And i axle gyro failure is then judged greater than 0 in gyro+jet diagnostic markers position;
Wherein:
Cireular frequency increment for angle mount gyro Gs output on the satellite; δ is the decision threshold of equation of equilibrium, and the codomain scope is 0.0035 Δ t～0.00875 Δ t, and Δ t is a control cycle; α is angle mount gyro G
sWith the x axle, the angle of y axle and z axle, α=54.73 °;
(4) if gyro G
x, G
y, G
zAnd G
sThe cireular frequency increment of output
With
Satisfy equation of equilibrium
And gyro+jet diagnostic markers position is greater than 0, and then judging has jet pipe to stop up, and switches No. one time latching valve.
Unite in the method for diagnosing the jet pipe plugging fault control cycle Δ t≤1s in the step (1) at above-mentioned gyro and the jet time of utilizing.
Unite in the method for diagnosing the jet pipe plugging fault at above-mentioned gyro and the jet time of utilizing, control different jet pipe branches by switching latching valve in the step (4), to reject the fault jet pipe, the normal jet moment of assurance satellite.
The present invention compared with prior art has the following advantages:
(1) method for diagnosing faults of the present invention has found gyro and the relevance of propulsion system aspect satellite attitude control, by simple logic determines, not only can diagnose out gyro failure, the fault that can also diagnose out jet pipe to block, make when satellite uses gyro information and jet moment to carry out attitude control to have the ability of independently diagnosing jet pipe plugging fault type at rail;
(2) the present invention has overcome on the satellite in the past the force value that the diagnosis to propulsion system mainly records based on the pressure sensor on the hydrazine bottle, can only make diagnosis to the fault of jet pipe gas leakage, and stop up helpless defective for jet pipe, realized the fault judgement of jet pipe obstruction has been remedied propulsion system and diagnosed incomplete problem.
(3) the present invention adopts gyro and jet time to unite the diagnotic method situation that jet pipe stops up that can judge rightly out, and after distinguishing situation by the autonomous appearance locking-valve that switches on the star, change branch's combination of propulsion system jet pipe, thereby in time for celestial body provides required control torque, the attitude of stabilized satellite;
(4) method for diagnosing faults of the present invention is simple, and is safe and reliable, is easy to realize on the star, can be widely used in various satellites and use in gyro and the jet while stage of working, has stronger practicality;
Side of the present invention finds to be applied to remote sensing and waits satellite No. nine, has obtained good effect during satellite in orbit.
Description of drawings
Fig. 1 is gyro of the present invention and jet associating Troubleshooting Flowchart.
Fig. 2 is a gyro scheme of installation of the present invention.
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing and the specific embodiment:
Gyro is the sensor of survey satellite attitude angular velocity on the satellite, and is general at the gyro that all is equipped with on the satellite more than 4.Being illustrated in figure 2 as gyro scheme of installation of the present invention, is that a kind of 4 gyros of classics are installed configuration.Wherein 3 gyros are installed in respectively on x axle, y axle and the z axle of satellite, are called G
x, G
y, G
z, its output
The cireular frequency increment of having represented n control cycle satellite attitude respectively; The 4th gyro is called angle mount gyro G
s, get meaning and be 54.73 ° from the angle of each coordinate axle in its installation direction and x axle, y axle and the z axle,
Be angle mount gyro G
sThe cireular frequency increment of output.Because the relative position of these 4 gyros and celestial body is a unmodified, so following relational expression is satisfied in gyro to measure output:
Because all measurement sensors all have measured error, so above-mentioned equation is just approximately equal when reality is used.According to above-mentioned relation, defined following equation
And be referred to as the equation of equilibrium of gyro, can judge with this equation whether gyro to measure output in certain control cycle satisfies corresponding relation to each other, thereby carry out follow-up fault judgement.Above-described control cycle Δ t is a set time section, refers to that satellite control system is finished once sample, calculate, export the time of being experienced, and is generally less than to equal 1s.δ is the threshold values of equation of equilibrium, and value is that system performance, the test figures according to gyro gets, and generally is taken as 0.0035 Δ t～0.00875 Δ t.
Propulsion system also is that most of satellite adopts, and propulsion system can provide bigger rotating torque to satellite, but at high speed is subdued the attitude misalignment of satellite.But propulsion system is by the jet moment that provides, and the jet fuel that need expend; And satellite can't postcombustion after emission, thus propulsion system fuel remaining what determined the life-span of satellite to a great extent.Therefore, propulsion system is related to the safety of satellite at the rail trouble diagnosing.If the situation that propulsion system generation jet pipe stops up, control system just can't cause the disorder of satellite generation attitude the most at last for satellite provides correct jet moment, and serious meeting causes the termination of satellite life.So the present invention has realized the trouble diagnosing that the propulsion system jet pipe stops up at rail, remedied the situation of the former diagnostic method deficiency of propulsion system, the safety that has improved satellite greatly.
Be illustrated in figure 1 as gyro of the present invention and jet associating Troubleshooting Flowchart, concrete implementation method is as follows:
(1) in each control cycle, gathers gyro G
x, G
y, G
zMeasure output at satellite Cartesian coordinates x axle, the cooresponding cireular frequency increment of y axle and z axle
Representative
Calculate the interior satellite of each control cycle simultaneously at the x axle, the cooresponding angular velocity varies amount of y axle and z axle
Representative
Δ t is a control cycle, and n is a n control cycle, and n is a positive integer, gyro G
x, G
y, G
zRepresentative is installed on satellite x axle, the gyro on y axle and the z axle respectively as shown in Figure 2.
(2) gather the interior propulsion system output of each control cycle at satellite Cartesian coordinates x axle, the cooresponding jet amount of y axle and z axle
To the x axle, the angular velocity varies amount of y axle and z axle
With jet amount
The 10s that adds up continuously obtains angular velocity varies amount accumulated value
With jet amount accumulated value
When the x axle, the i axle satisfies in described 10s simultaneously in y axle and the z axle: jet amount accumulated value
Second, the accumulated value of angular velocity varies amount
During two conditions of radian/s, make gyro+jet diagnostic markers position add 1, the codomain of m is between 2 to 3.Otherwise when above-mentioned two conditions do not satisfy, or when only satisfying one of them condition, gyro+jet diagnostic markers position is 0 or zero clearing.
Above-mentioned
In Δ t be control cycle, generally can be divided exactly by 10, if Δ t can not be divided exactly by 10, then n is
Round.
(3) if gyro G
x, G
y, G
zAnd G
sThe cireular frequency increment of output
With
Do not satisfy equation of equilibrium
And i axle gyro failure is then judged greater than 0 in gyro+jet diagnostic markers position.Wherein
Be angle mount gyro G on the satellite
sThe cireular frequency increment of output; δ is the decision threshold of equation of equilibrium, and the codomain scope is 0.0035 Δ t～0.00875 Δ t; α is angle mount gyro G
sWith the x axle, the angle of y axle and z axle, α=54.73 °;
(4) if gyro G
x, G
y, G
zAnd G
sThe cireular frequency increment of output
With
Satisfy equation of equilibrium
And gyro+jet diagnostic markers position is greater than 0, and then judging has jet pipe to stop up, and switches No. one time latching valve.
Above-mentioned logic is exactly under the mode of operation that uses gyro and jet control briefly, and jet cumulative amount is greater than m second in certain 10s, and respective shaft angular velocity varies amount is always less than 0.001 radian/s; Then declare respective shaft gyro failure if equation of equilibrium is not satisfied in gyro output this moment; Otherwise thinking has jet pipe to stop up, and switches No. one time latching valve.
If gyro+jet diagnostic markers position is 0, no matter whether satisfy equation of equilibrium, then judging does not have fault to produce.
Enumerate specific embodiment below:
At the 1st control cycle (control cycle Δ t=1s),
Satellite need reduce the cireular frequency of x axle, promptly wishes
Then need propulsion system to provide a jet moment at the x axle, jet time is 1s, promptly
If this moment, corresponding jet pipe stopped up, in fact there is not jet moment to produce, the cireular frequency of celestial body does not just change, and therefore the 2nd control cycle still has
Because
Value do not change, therefore the 2nd control cycle still need be at the jet 1s of x axle, promptly
The rest may be inferred for the 3rd control cycle.If set m=2, then behind 2 control cycles, jet time add up and
And the angular velocity varies amount add up and
Gyro+jet diagnostic markers position=1 then.And this moment, gyro was output as
Satisfy equation of equilibrium
Make δ=0.0035 Δ t, block,,, just can promptly get rid of propulsion system failure this jet pipe branch cut by switching latching valve so can judge jet pipe.
The above; only be an example of the present invention, but protection scope of the present invention is not limited thereto, anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.
The content that is not described in detail in the specification sheets of the present invention belongs to this area professional and technical personnel's known technology.
Claims (3)
1. a method of utilizing gyro and jet time to unite diagnosis jet pipe plugging fault is characterized in that comprising the steps:
(1) gathers gyro G in each control cycle
x, G
y, G
zMeasure output at satellite Cartesian coordinates x axle, the cooresponding cireular frequency increment of y axle and z axle
Calculate the interior satellite of each control cycle simultaneously at the x axle, the cooresponding angular velocity varies amount of y axle and z axle
Wherein: gyro G
x, G
y, G
zRepresentative is installed in Cartesian coordinates x axle, the gyro on y axle and the z axle respectively; I represents the x axle, y axle or z axle;
Representative
Representative
Δ t represents control cycle; N represents n control cycle, and n is a positive integer;
(2) gather the interior propulsion system output of each control cycle at satellite Cartesian coordinates x axle, the cooresponding jet amount of y axle and z axle
To the x axle, the angular velocity varies amount of y axle and z axle
With jet amount
The 10s that adds up continuously obtains angular velocity varies amount accumulated value
With jet amount accumulated value
When the x axle, when the i axle satisfies following two conditions simultaneously in y axle and the z axle in described 10s, make gyro+jet diagnostic markers position add 1, otherwise gyro+jet diagnostic markers position is 0:
Jet amount accumulated value
Second,
The accumulated value of angular velocity varies amount
Radian/s,
Wherein: the codomain of m is between 2 to 3;
(3) if gyro G
x, G
y, G
zAnd G
sThe cireular frequency increment of output
With
Do not satisfy equation of equilibrium
And i axle gyro failure is then judged greater than 0 in gyro+jet diagnostic markers position;
Wherein:
Be angle mount gyro G on the satellite
sThe cireular frequency increment of output; δ is the decision threshold of equation of equilibrium, and the codomain scope is 0.0035 Δ t～0.00875 Δ t, and Δ t is a control cycle; α is angle mount gyro G
sWith the x axle, the angle of y axle and z axle, α=54.73 °;
(4) if gyro G
x, G
y, G
zAnd G
sThe cireular frequency increment of output
With
Satisfy equation of equilibrium
And gyro+jet diagnostic markers position is greater than 0, and then judging has jet pipe to stop up, and switches No. one time latching valve.
2. a kind of method of utilizing gyro and jet time to unite diagnosis jet pipe plugging fault according to claim 1 is characterized in that: control cycle Δ t≤1s in the described step (1).
3. a kind of method of utilizing gyro and jet time to unite diagnosis jet pipe plugging fault according to claim 1, it is characterized in that: control different jet pipe branches by switching latching valve in the described step (4), to reject the fault jet pipe, guarantee the normal jet moment of satellite.
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|---|---|---|---|
| CN 201010509201 CN102050228B (en) | 2010-10-11 | 2010-10-11 | Method for diagnosing spraying tube blocking fault by using combination of spinning top and air spraying time |
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|---|---|---|---|
| CN 201010509201 CN102050228B (en) | 2010-10-11 | 2010-10-11 | Method for diagnosing spraying tube blocking fault by using combination of spinning top and air spraying time |
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| CN102050228B CN102050228B (en) | 2013-06-19 |
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Cited By (6)
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| CN102785785A (en) * | 2012-09-10 | 2012-11-21 | 清华大学 | Method for suppressing gravitation interference in pure gravity orbit by utilizing spinning of outer spacecraft |
| CN104743137A (en) * | 2015-03-05 | 2015-07-01 | 北京控制工程研究所 | Spacecraft fault diagnosis method based on event queue |
| CN110803305A (en) * | 2019-12-03 | 2020-02-18 | 上海航天控制技术研究所 | Satellite attitude control thruster spray limiting method |
| CN111319795A (en) * | 2020-02-26 | 2020-06-23 | 上海航天控制技术研究所 | High-precision orbit control method and system for autonomously feeding back and compensating attitude control jet influence in real time |
| CN111637901A (en) * | 2020-04-28 | 2020-09-08 | 北京控制工程研究所 | Multi-gyroscope fault diagnosis and reconstruction method based on non-homogeneous equation solution |
| CN116643482A (en) * | 2023-07-27 | 2023-08-25 | 航天科工火箭技术有限公司 | Carrier rocket side jet flow gesture redundant control method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102785785A (en) * | 2012-09-10 | 2012-11-21 | 清华大学 | Method for suppressing gravitation interference in pure gravity orbit by utilizing spinning of outer spacecraft |
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| CN110803305A (en) * | 2019-12-03 | 2020-02-18 | 上海航天控制技术研究所 | Satellite attitude control thruster spray limiting method |
| CN110803305B (en) * | 2019-12-03 | 2021-06-08 | 上海航天控制技术研究所 | Satellite attitude control thruster spray limiting method |
| CN111319795A (en) * | 2020-02-26 | 2020-06-23 | 上海航天控制技术研究所 | High-precision orbit control method and system for autonomously feeding back and compensating attitude control jet influence in real time |
| CN111637901A (en) * | 2020-04-28 | 2020-09-08 | 北京控制工程研究所 | Multi-gyroscope fault diagnosis and reconstruction method based on non-homogeneous equation solution |
| CN116643482A (en) * | 2023-07-27 | 2023-08-25 | 航天科工火箭技术有限公司 | Carrier rocket side jet flow gesture redundant control method |
| CN116643482B (en) * | 2023-07-27 | 2023-10-20 | 航天科工火箭技术有限公司 | Carrier rocket side jet flow gesture redundant control method |
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