CN102050228B - 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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- CN102050228B CN102050228B CN 201010509201 CN201010509201A CN102050228B CN 102050228 B CN102050228 B CN 102050228B CN 201010509201 CN201010509201 CN 201010509201 CN 201010509201 A CN201010509201 A CN 201010509201A CN 102050228 B CN102050228 B CN 102050228B
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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 blockage of spray pipe fault.
Background technology
Gyro and propulsion system are the necessary equipment of satellite in operating periods such as attitude maneuver and orbit adjustings, at this moment, the attitude of satellite changes greatly or outer the disturbing greatly that is subject 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 by the ground Real Time Monitoring, so the ability that possesses autonomous diagnosis gyro and propulsion system failure on 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 makes between the two must certain contact.When satellite used jet controls, because jet moment is larger, the angular velocity varies of celestial body was also larger, can make a cover according to this rule and unite the method for diagnosis based on jet and gyro, realized gyro and jet at the rail automatic fault diagnosis.In addition, when system, for the consideration of safety and reliability, propulsion system has all been carried out Redundancy Design, and general propulsion system comprises two and overlaps independently jet branch, 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 the purpose with the excision of problem jet pipe.
All possessed parts automatic fault diagnosis ability although control subsystem on 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 helpless to blockage of spray pipe.
Summary of the invention
The object of the invention is to overcome the defects of prior art, a kind of method of utilizing gyro and jet time to unite diagnosis blockage of spray pipe fault is provided, the method both can be diagnosed the fault of gyro, also can diagnose the blockage problem of jet pipe in propulsion system, when diagnosing out when blockage of spray pipe is arranged, by switching latching valve, can change the branch of the propulsion system of current use, 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 blockage of spray pipe fault comprises the steps:
(1) gather gyro G in each control cycle
x, G
y, G
zMeasure output at satellite Cartesian coordinates * axle, the cireular frequency increment that y axle and z axle are corresponding
Calculate simultaneously the interior satellite of each control cycle at the x axle, the angular velocity varies amount that y axle and z axle are corresponding
Wherein: gyro G
x, G
y, G
zRepresentative is arranged on Cartesian coordinates x axle, the gyro on y axle and 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 positive integer;
(2) gather the interior propulsion system output of each control cycle in satellite Cartesian coordinates x axle, the jet amount that y axle and z axle are corresponding
To the x axle, the angular velocity varies amount of y axle and z axle
With jet amount
Continuous accumulation 10s obtains angular velocity varies amount accumulated value
With jet amount accumulated value
When the x axle, when in y axle and z axle, the i axle satisfies following two conditions simultaneously 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 gyro+jet diagnostic markers position judges i axle gyro failure greater than 0;
Wherein:
Cireular frequency increment for angle mount gyro Gs output on 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 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 judgement has blockage of spray pipe, switches No. one time latching valve.
Utilize above-mentioned the method that gyro and jet time unite diagnosis blockage of spray pipe fault, control cycle Δ t≤1s in step (1).
Utilize above-mentioned the method that gyro and jet time unite diagnosis blockage of spray pipe fault, control different jet pipe branches by switching latching valve in step (4), to reject the fault jet pipe, guarantee the normal jet moment of 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 judgement, 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, have the ability of independently diagnosing the blockage of spray pipe fault type at rail;
(2) the present invention has overcome on 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 for the helpless defective of blockage of spray pipe, realize the fault judgement to blockage of spray pipe, made up the incomplete problem of propulsion system diagnosis.
(3) the present invention's method of adopting gyro and jet time to unite diagnosis situation of blockage of spray pipe that can judge rightly out, and after distinguishing situation by the autonomous appearance locking-valve that switches on 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 star, can be widely used in various satellites and use gyro and in the jet stage of working simultaneously, have 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 gyro installation schematic diagram 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 satellite, and is general at the gyro that all is equipped with on satellite more than 4.Being illustrated in figure 2 as gyro installation schematic diagram of the present invention, is a kind of 4 gyro installation configurations of classics.Wherein 3 gyros are arranged on respectively on the x-axis, y-axis and z-axis of satellite, are called G
x, G
y, G
z, its output
The cireular frequency increment that has represented respectively n control cycle satellite attitude; The 4th gyro is called angle mount gyro G
s, the angle that takes meaning from each coordinate axle in its installation direction and x-axis, y-axis and z-axis is 54.73 °,
Be angle mount gyro G
sThe cireular frequency increment of output.Because the relative position of these 4 gyros and celestial body is constant, so the relational expression of gyro to measure output below satisfying:
Because all measurement sensors 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 completed once sample, calculate, export the time of experiencing, 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 is also that most of satellites adopt, and propulsion system can provide larger rotating torque to satellite, can subdue fast the attitude misalignment of satellite.But propulsion system is by the jet moment that provides, and the jet fuel that need to expend; And satellite can't postcombustion after emission, thus propulsion system fuel remaining what determined to a great extent the life-span of satellite.Therefore, the diagnosis of the on-orbit fault of propulsion system is related to the safety of satellite.If the situation of propulsion system generation blockage of spray pipe, control system just can't cause satellite generation attitude disorderly for satellite provides correct jet moment the most at last, serious meeting causes the termination of satellite life.So the present invention has realized the trouble diagnosing of propulsion system blockage of spray pipe at rail, made up the situation of the former diagnostic method deficiency of propulsion system, the safety that has greatly improved satellite.
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, gather gyro G
x, G
y, G
zMeasure output at satellite Cartesian coordinates x axle, the cireular frequency increment that y axle and z axle are corresponding
Representative
Calculate simultaneously the interior satellite of each control cycle at the x axle, the angular velocity varies amount that y axle and z axle are corresponding
Representative
Δ t is control cycle, and n is n control cycle, and n is positive integer, gyro G
x, G
y, G
zRepresentative is installed on satellite x axle, the gyro on y axle and z axle respectively as shown in Figure 2.
(2) gather the interior propulsion system output of each control cycle in satellite Cartesian coordinates x axle, the jet amount that y axle and z axle are corresponding
To the x axle, the angular velocity varies amount of y axle and z axle
With jet amount
Continuous accumulation 10s obtains angular velocity varies amount accumulated value
With jet amount accumulated value
When the x axle, in y axle and z axle, the i axle satisfies in described 10s simultaneously: jet amount accumulated value
Second, the accumulated value of angular velocity varies amount
During two conditions of radian/s, the codomain that makes gyro+jet diagnostic markers position add 1, 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, 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 gyro+jet diagnostic markers position judges i axle gyro failure greater than 0.Wherein
Be angle mount gyro G on 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 judgement has blockage of spray pipe, switches No. one time latching valve.
Above-mentioned logic briefly, is exactly under the mode of operation that uses gyro and jet control, and jet cumulative amount is greater than m second in certain axle 10s, and respective shaft angular velocity varies amount is always less than 0.001 radian/s; If this moment, equation of equilibrium was not satisfied in gyro output, sentence the respective shaft gyro failure; Otherwise thinking has blockage of spray pipe, switches No. one time latching valve.
If gyro+jet diagnostic markers position is 0, no matter whether satisfy equation of equilibrium, judgement does not have fault to produce.
The below enumerates specific embodiment:
At the 1st control cycle (control cycle Δ t=1s),
Satellite need to reduce the cireular frequency of x axle, namely wishes
Need propulsion system to provide a jet moment at the x axle, jet time is 1s, namely
If this moment, corresponding blockage of spray pipe, in fact do not have jet moment to produce, the cireular frequency of celestial body does not just change, and therefore the 2nd control cycle still has
Due to
Value do not change, therefore the 2nd control cycle still need to be at the jet 1s of x axle, namely
The rest may be inferred for the 3rd control cycle.If set m=2, after 2 control cycles, jet time cumulative and
And angular velocity varies amount cumulative and
Gyro+jet diagnostic markers position=1.And this moment, gyro was output as
Satisfy equation of equilibrium
Make δ=0.0035 Δ t, block so can judge jet pipe, by switching latching valve, with this jet pipe branch cut, just can promptly get rid of propulsion system failure.
The above; be only an example of the present invention, but protection scope of the present invention is not limited to this, 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 are within all should being encompassed in protection scope of the present invention.
The content that is not described in detail in 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 blockage of spray pipe fault, is characterized in that comprising the steps:
(1) gather gyro G in each control cycle
x, G
y, G
zMeasure output at satellite Cartesian coordinates x axle, the cireular frequency increment that y axle and z axle are corresponding
Calculate simultaneously the interior satellite of each control cycle at the x axle, the angular velocity varies amount that y axle and z axle are corresponding
Wherein: gyro G
x, G
y, G
zRepresentative is arranged on Cartesian coordinates x axle, the gyro on y axle and 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 positive integer;
(2) gather the interior propulsion system output of each control cycle in satellite Cartesian coordinates x axle, the jet amount that y axle and z axle are corresponding
To the x axle, the angular velocity varies amount of y axle and z axle
With jet amount
Continuous accumulation obtains angular velocity varies amount accumulated value to 10s
With jet amount accumulated value
When the x axle, when in y axle and z axle, the i axle satisfies following two conditions simultaneously 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 gyro+jet diagnostic markers position judges i axle gyro failure greater than 0;
Wherein:
Be angle mount gyro G on 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 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 judgement has blockage of spray pipe, switches No. one time latching valve.
2. a kind of method of utilizing gyro and jet time to unite diagnosis blockage of spray pipe fault according to claim 1, is characterized in that: control cycle Δ t≤1s in described step (1).
3. a kind of gyro and jet time of utilizing according to claim 1 united the method for diagnosing the blockage of spray pipe fault, it is characterized in that: control different jet pipe branches by switching latching valve in 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 true CN102050228B (en) | 2013-06-19 |
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| CN102785785B (en) * | 2012-09-10 | 2015-05-06 | 清华大学 | Method for suppressing gravitation interference in pure gravity orbit by utilizing spinning of outer spacecraft |
| CN104743137B (en) * | 2015-03-05 | 2017-01-04 | 北京控制工程研究所 | A kind of spacecraft fault diagnosis method based on event queue |
| 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 |
| CN111319795B (en) * | 2020-02-26 | 2023-08-01 | 上海航天控制技术研究所 | Autonomous real-time feedback high-precision rail control method and system for compensating influence of attitude control air injection |
| CN111637901B (en) * | 2020-04-28 | 2021-12-07 | 北京控制工程研究所 | Multi-gyroscope fault diagnosis and reconstruction method based on non-homogeneous equation solution |
| 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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