CN102289211A - Satellite attitude control semiphysical simulation system based on multi-target machine - Google Patents
Satellite attitude control semiphysical simulation system based on multi-target machine Download PDFInfo
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Abstract
The invention discloses a satellite attitude control semiphysical simulation system based on a multi-target machine. The satellite attitude control semiphysical simulation system comprises a real-time positioning sub system, an attitude measurement sub system, an attitude control comprehensive processing system, an execution mechanism, a signal conditioning box, a target machine, a working computer and a display system, wherein the real-time positioning sub system acquires real-time position information of a satellite; aiming at different working modes of the satellite during orbit flying, the attitude measurement sub system acquires real-time attitude information of the satellite; the attitude control comprehensive processing system manages all attitude measurement components and the execution mechanism; the target machine performs attitude calculation and torque calculation according to acquired real-time position information and the acquired attitude information and sends control information to the execution mechanism; and the execution mechanism sends actual execution information back to the target machine through the signal conditioning box, acquires the real-time attitude information of the satellite through dynamics and sends the attitude information to the attitude measurement components. The satellite attitude control semiphysical simulation system has high simulation instantaneity, high fault-tolerant capability and high integration degree and has great instructional significance for design and development of satellite attitude control systems.
Description
Technical field
The present invention relates to a kind of attitude of satellite control ground semi-physical system based on the multiple goal machine, this system can be in ground simulation the satellite attitude measurement under the different mode and control procedure when rail flies, the feasibility that can be used for verifying satellites control system General layout Plan, and the fault handling strategy of research satellite in orbit the time.
Background technology
Satellite engineering is a high investment, excessive risk and high-precision systems engineering, satellite is in orbit the time, owing to be subjected to the influence of various extraneous factors, its attitude and trade shape are very complicated, again because the control of satellite orbit and attitude depends on Guidance And Navigation System, therefore, high precision, highly reliable attitude of satellite measurement and control system have become the bottleneck of restriction satellite fast development.This shows, when the design satellite, need the design of very conscientious, careful attitude and orbit control system, still, whether designed system meets mission requirements, various tracks and attitude measurement device access hardware-in-the-loop need be carried out ground semi-physical simulation checking.
Aspect the semi-physical system development of the ground of the fault-tolerant control of the attitude of satellite, analogue system has reached over half a century with the development of space technology equipment at present.The space flight department of country such as the United States, Russia, Europe and aerospace company all take much count of the emulation research and development technology of spacecraft, have set up a lot of emulation platforms, and the existing large-scale government test chamber of its emulator has small-sized testing table again.The semi-physical system of present stage aspect the multinode real-time communication based on hub-and-spoke configuration, this real-time network structure has the advantage of low delay, high transmission rates, guarantee all node data fast updating, but this network structure has increased a real-time network HUB, and identical node number, the optical fiber that uses has also increased by one times, when increasing experimentation cost, greatly reduces the total system reliability of operation; In addition, situation when present stage, most of semi-physical system were the taking into account system operate as normal, not systematic consideration is owing to space single-particle inversion effect, locking single particle effect, perhaps other reason, make first aid strategy when certain parts in the system or several parts break down, for follow-up through engineering approaches and satellite formally stay hidden danger in rail flight.In a word, owing to there is above-mentioned defective, existing microsatellite attitude control ground semi-physical system exists real-time network complex structure, operating cost height, operational reliability difference and solves shortcomings such as semi-physical system unit failure strategy is few.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, the attitude of satellite control ground that a kind of real-time network is simple in structure, operating cost is low and operational reliability is high semi-physical system is provided.
Technical solution of the present invention is: a kind of attitude of satellite control ground semi-physical system based on the multiple goal machine is made up of real-time positioning subsystem (2), attitude measurement subsystem (4), attitude control total system (3), topworks (1), signal process box (5), target machine (6), demonstration computing machine (7) and display system (8); Real-time positioning subsystem (2) obtains the real-time position information of satellite by GPS simulator (21) and GPS receiver (22); Attitude measurement subsystem (4) is by gathering the data of the attitude measurement parts of using under the satellite work at present pattern (star sensor sensor (41), sun sensor (42), three axis optical fibre gyro (43) and magnetometer (44)), and data are settled accounts, obtain the real-time attitude information of satellite; Topworks (1) is by the real-time attitude of execution unit (magnetic torquer (101), mechanical flywheel (102) and magnetically levitated flywheel (103)) control satellite; Signal process box (5) comprises signal process box 1 (51), signal process box 2 (52) and signal process box 3 (53), mainly finishes the conditioning to moment information, attitude information and the positional information that receives, and the information after will nursing one's health sends target machine (6) to; Target machine (6) comprises attitude dynamics simulation objectives machine (61), dynamics of orbits simulation objectives machine (62) and attitude controlled target machine (63), and each target machine resolves attitude dynamics, dynamics of orbits and attitude control information respectively; Attitude control total system (3) is receiving the positional information that real-time positioning subsystem (2) sends, the attitude information that attitude measurement subsystem (4) is measured, in the time of torque command that topworks (1) carries out, the data that receive are passed through signal process box 1 (51), signal process box 2 (52) and signal process box 3 (53) send attitude dynamics simulation objectives machine (61) to, dynamics of orbits simulation objectives machine (62) and attitude controlled target machine (63) carry out attitude algorithm and Calculating Torque during Rotary, and the real-time moment information that last attitude control total system (3) will calculate returns to topworks (1) and makes corresponding parts work; Showing that computing machine (7) and display system (8) are given the output of the attitude parameter in this process and each sensor, topworks by Ethernet shows computing machine and demonstration.The present invention provides necessary help for the feasibility of verifying satellites attitude control system General layout Plan and analog satellite at the rail flight course.
Principle of the present invention is: a kind of attitude of satellite control ground semi-physical system based on the multiple goal machine comprises real-time positioning subsystem, attitude measurement subsystem, attitude control total system, topworks, signal process box, target machine, demonstration computing machine and display system; The real-time positioning subsystem obtains the real-time position information of satellite; The attitude measurement subsystem obtains the real-time attitude information of satellite; Attitude control total system is managed all attitude measurement parts and topworks; Target machine carries out attitude algorithm and Calculating Torque during Rotary by signal process box with real time position and the attitude information that obtains, and sends control information then to topworks; Topworks returns the execution information of reality to target machine by signal process box, resolve the real-time attitude information that draws satellite by dynamics, and attitude information sent to the attitude measurement parts, so cycling, constitute real-time closed-loop test, and then finish the ground semi-physical simulation of satellite attitude control system.
Connect and compose annular reflection internal memory net by multimode optical fiber between described attitude dynamics simulation objectives machine (61), dynamics of orbits simulation objectives machine (62), the attitude controlled target machine (63) and carry out the multinode real-time Communication for Power.
Some parts in the described attitude measurement subsystem (40) when perhaps other reason breaks down, can continue to finish real-time attitude measurement owing to space single-particle inversion effect, locking single particle effect by other attitude measurement unit construction.
Attitude measurement in the described attitude measurement subsystem (4) comprehensively resolves unit (45) owing to space single-particle inversion effect, locking single particle effect, when perhaps other reason breaks down, can control total system (3) by attitude and continue to finish attitude algorithm.
The present invention's advantage compared with prior art is:
1, compares with traditional single goal machine, native system has adopted the multiple goal machine synchronous processing mode of attitude dynamics simulation objectives machine (61), dynamics of orbits simulation objectives machine (62), attitude controlled target machine (63), when improving system running speed, the further real-time processing horizontal of elevator system multiple goal, multitask, multinode.
2, native system comprised rate damping that satellite experiences, sun acquisition when rail flies, to day multi-operation mode such as orientation, absolute orientation.When the attitude measurement parts under satellite makes the work at present pattern for a certain reason in the attitude measurement subsystem (40) break down, can continue to finish real-time attitude measurement by other attitude measurement unit construction, avoid owing to single or a plurality of unit failures make the whole attitude of satellite lose, and then improved the application reliability of whole star.
3, the attitude measurement in satellite makes attitude measurement subsystem (4) for a certain reason comprehensively resolves unit (45) when breaking down, system enters safe mode, continue to finish attitude algorithm by attitude control total system (3), avoided taking place, and then improved the reliability in orbit of whole star owing to the individual unit fault makes whole satellite situation out of control.
4, in the whole debug process of system, all simulation processes of dynamic simulation system are presented at the emulation interface on four displays that are placed on diverse location synchronously by the VGA divider, guarantee that the staff who is positioned at diverse location can analyze and handle simulation result in the very first time.
5, integrated level height of the present invention, real-time has the important engineering practical value.
Description of drawings
Fig. 1 is a general frame synoptic diagram of the present invention;
Fig. 2 is a satnav subsystem framework synoptic diagram of the present invention;
Fig. 3 is an attitude measurement subsystem framework synoptic diagram of the present invention;
Fig. 4 is a topworks of the present invention framework synoptic diagram;
Fig. 5 is attitude control total system hardware capability block diagram of the present invention;
Fig. 6 is data transmission synoptic diagram between three target machines of the present invention;
Parts reconstruct combination synoptic diagram when Fig. 7 breaks down for the various mode of operation lower member of the present invention;
Embodiment
General frame of the present invention illustrates that as shown in Figure 1 it is made up of satellite real-time positioning subsystem (2), attitude measurement subsystem (4), attitude control total system (3), topworks (1), signal process box (5), target machine (6), demonstration computing machine (7) and display system (8)
As shown in Figure 2, be satnav subsystem of the present invention (2) framework synoptic diagram, it is made up of GPS simulator (21) and GPS receiver (22).Because the movement velocity of satellite in the space is very fast, ground is difficult to emulation, GPS navigation signal when so native system comes analog satellite in orbit by GPS simulator (21), GPS receiver (22) receives from the real-time navigation signal of GPS simulator (21) and positions then, obtain comprising satellite longitude, latitude, height and satellite three position information and time references such as speed under the geographic coordinate system, and real-time Transmission is controlled to attitude, and total system (3) is determined for the track of system and attitude determines to provide important information.
As shown in Figure 3, be attitude measurement subsystem of the present invention (4) framework synoptic diagram, it comprehensively resolves unit (45) by attitude measurement unit (40) and attitude measurement and forms, wherein, attitude measurement unit (40) comprise star sensor sensor (41), sun sensor (42), three axis optical fibre gyro (43) and (44) four attitude measurement parts of magnetometer.Consider that satellite can experience different mode of operations in the process in orbit, and the attitude measurement accuracy difference of system under the various mode of operations, therefore the sensor combination of using under the different mode of operations is also different, so attitude measurement subsystem of the present invention (4) principle of work is: comprehensively resolve unit (45) by attitude measurement, the operational mode state instruction of total system (3) is controlled in reception from attitude, enable different attitude measurement sensor combination the carrying out collection of system physical information, and to gather physical message carry out comprehensive resolving.
As shown in Figure 4, be topworks of the present invention (1) framework synoptic diagram, it is made up of magnetic torquer (101), mechanical flywheel (102), magnetically levitated flywheel (103) three class topworkies.Consider that satellite can experience different mode of operations in the process in orbit, and the attitude control accuracy difference of system under the various mode of operations, therefore the topworks (1) that uses under the different mode of operations is also different, event topworks of the present invention (1) principle of work is: by attitude control total system (3) torque command that receives is instructed with operational mode state to send different topworks (1) to, and make it action.
As shown in Figure 5, be attitude control total system (3) hardware capability block diagram of the present invention, this system comprises CPLD association controller (3001), CPLD clock generation circuit (3002), CPLD power-switching circuit (3003), A/D converter (3004), signal conditioning circuit (3005), serial ports level shifting circuit (3007), ARM master controller (3008), ARM clock generation circuit (3012), ARM power-switching circuit (3013), CAN transmission circuit (3011), reset circuit (3014), Flash (3009), SDRAM (3010); Wherein, CPLD clock generation circuit (3002) provides single, stable 25M Hz clock signal for CPLD association's controller (3001); CPLD power-switching circuit (3003) provides 3.3V, 2.5V voltage signal for CPLD assists controller (3001) and peripheral circuit; Signal conditioning circuit (3005) is to give A/D converter (3004) after sensor (3006) signal is nursed one's health; Serial ports level shifting circuit (3007) assists the I/O pin level conversion of controller (3001) or ARM master controller (3008) to become the required RS-232 of peripheral hardware, RS-422 level CPLD; ARM clock generation circuit (3012) provides stable 18.432MHz clock signal for ARM master controller (3008); ARM power-switching circuit (3013) provides 3.3V, 2.5V, 1.8V voltage signal for ARM master controller (3008) and peripheral circuit; CAN transmission circuit (3011) is used for system and spaceborne computer carries out data communication; Required software program in the storage ARM course of work in Flash (3009) storer, SDRAM (3010) storer is in order to the data before and after the stores processor; Reset and reset for native system with watchdog circuit (3014) and monitor.
As shown in Figure 6, be data transmission synoptic diagram between attitude dynamics simulation objectives machine of the present invention (61), dynamics of orbits simulation objectives machine (62), attitude controlled target machine (63), if the reflective memory host is formed by connecting by optical fiber by the reflective memory plate, every online computing machine inserts a reflective memory plate and forms each node, and the shared data copy of online other node of reflective memory is all arranged in the storer on the reflective memory plate of each node.In addition, every reflective memory network interface card is mapped to a virtual global memory again by the network internal storage mapping with the local memory on the distribution node card, and promptly each node also writes the internal memory of every other node card simultaneously in the data that write the local node card.Like this, the user is equivalent to global memory is read and write to the read-write of local node internal memory, and this global memory is all as seen reflections of all distribution nodes, thereby realizes the data communication between distribution node.Actual test statistics result shows, adopting later any two the data between nodes propagation time delays of the real-time processing of reflective memory net to be no more than 20 microseconds, total system satisfies the system emulation task of simulation step length more than 500 microseconds fully, so can be carried out the multinode real-time Communication for Power.
As shown in Figure 7, parts reconstruct combination synoptic diagram when breaking down, satellite for the various mode of operation lower member of the present invention when rail fly, experience rate damping, sun acquisition, to day orientation, absolute orientation, test and safe six kinds of mode of operations.Adopt three axis optical fibre gyro to come the instrumented satellite attitude information under the rate damping pattern, adopt sun sensor (42) and magnetometer (44) multiple measurement attitude of satellite information under the sun acquisition pattern, day is adopted star sensor sensor (41) instrumented satellite attitude information, employing star sensor sensor (41) and three axis optical fibre gyro (43) the multiple measurement attitude of satellite information during test model under the directed and absolute orientation pattern.Consider space single-particle inversion effect, locking single particle effect, perhaps other reason, can make under current certain mode of operation of satellite the attitude measurement parts break down, and then cause systemic breakdown, even whole satellite lost efficacy.In order to prevent that above-mentioned situation from taking place,, under the rate damping pattern, adopt magnetometer (44) to come the instrumented satellite attitude information when three axis optical fibre gyro (43) when breaking down; Under test model, adopt star sensor sensor (41) to come the instrumented satellite attitude information.When magnetometer (44) when breaking down, under the sun acquisition pattern, adopt sun sensor (42) and three axis optical fibre gyro (43) multiple measurement attitude of satellite information.When sun sensor (42) when breaking down, under the sun acquisition pattern, adopt three axis optical fibre gyro (43) and magnetometer (44) multiple measurement attitude of satellite information.When star sensor sensor (41) when breaking down, to day orientation, absolute orientation and test model under, adopt sun sensor (42), three axis optical fibre gyro (43) and magnetometer (44) multiple measurement attitude of satellite information.When three axis optical fibre gyro (43) and magnetometer (44) when all breaking down, all adopt star sensor sensor (41) instrumented satellite attitude information under each mode of operation.When sun sensor (42) and three axis optical fibre gyro (43) when all breaking down, under the rate damping pattern, adopt magnetometer (44) instrumented satellite attitude information; Under other mode of operation, adopt star sensor sensor (41) instrumented satellite attitude information.When star sensor sensor (41) and three axis optical fibre gyro (43) when all breaking down, under the rate damping pattern, adopt magnetometer (44) instrumented satellite attitude information; Under other mode of operation, adopt sun sensor (42) and magnetometer (44) multiple measurement attitude of satellite information.When sun sensor (42) and magnetometer (44) when all breaking down, under the rate damping pattern, adopt three axis optical fibre gyro (43) instrumented satellite attitude information; Under other mode of operation, adopt star sensor sensor (41) and three axis optical fibre gyro (43) multiple measurement attitude of satellite information.When star sensor sensor (41) and magnetometer (44) when all breaking down, under the rate damping pattern, adopt three axis optical fibre gyro (43) instrumented satellite attitude information; Under other mode of operation, adopt sun sensor (42) three axis optical fibre gyro (43) and multiple measurement attitude of satellite information.When star sensor sensor (41) and sun sensor (42) when all breaking down, under the rate damping pattern, adopt three axis optical fibre gyro (43) instrumented satellite attitude information; Under other mode of operation, adopt three axis optical fibre gyro (43) and magnetometer (44) multiple measurement attitude of satellite information.By above-mentioned fault-tolerant control strategy, can avoid taking place, and then improve the application reliability of whole star owing to the situation that single or a plurality of unit failures make the whole attitude of satellite lose.
The content that is not described in detail in the instructions of the present invention belongs to this area professional and technical personnel's known prior art.
Claims (4)
1. the attitude of satellite control semi-physical system based on the multiple goal machine comprises: real-time positioning subsystem (2), attitude measurement subsystem (4), attitude control total system (3), topworks (1), signal process box (5), target machine (6), demonstration computing machine (7) and display system (8); Real-time positioning subsystem (2) obtains the real-time position information of satellite by GPS simulator (21) and GPS receiver (22); Attitude measurement subsystem (4) is by gathering the data of the attitude measurement parts of using under the satellite work at present pattern (star sensor sensor (41), sun sensor (42), three axis optical fibre gyro (43) and magnetometer (44)), and data are settled accounts, obtain the real-time attitude information of satellite; Topworks (1) is by the real-time attitude of execution unit (magnetic torquer (101), mechanical flywheel (102) and magnetically levitated flywheel (103)) control satellite; Signal process box (5) comprises signal process box 1 (51), signal process box 2 (52) and signal process box 3 (53), mainly finishes the conditioning to moment information, attitude information and the positional information that receives, and the information after will nursing one's health sends target machine (6) to; Target machine (6) comprises attitude dynamics simulation objectives machine (61), dynamics of orbits simulation objectives machine (62) and attitude controlled target machine (63), and each target machine resolves attitude dynamics, dynamics of orbits and attitude control information respectively; Attitude control total system (3) is receiving the positional information that real-time positioning subsystem (2) sends, the attitude information that attitude measurement subsystem (4) is measured, in the time of torque command that topworks (1) carries out, the data that receive are passed through signal process box 1 (51), signal process box 2 (52) and signal process box 3 (53) send attitude dynamics simulation objectives machine (61) to, dynamics of orbits simulation objectives machine (62) and attitude controlled target machine (63) carry out attitude algorithm and Calculating Torque during Rotary, and the real-time moment information that last attitude control total system (3) will calculate returns to topworks (1) and makes corresponding parts work; Showing that computing machine (7) and display system (8) are given the output of the attitude parameter in this process and each sensor, topworks by Ethernet shows computing machine and demonstration.
2. a kind of attitude of satellite control ground semi-physical system according to claim 1 based on the multiple goal machine, it is characterized in that: connect by multimode optical fiber between described attitude dynamics simulation objectives machine (61), dynamics of orbits simulation objectives machine (62), the attitude controlled target machine (63), looping reflective memory net carries out the multinode real-time Communication for Power.
3. a kind of attitude of satellite control ground semi-physical system according to claim 1 based on the multiple goal machine, it is characterized in that: the rate damping of when rail flies, experiencing at satellite, sun acquisition, to the day orientation, multi-operation modes such as absolute orientation, because space single-particle inversion effect, locking single particle effect or other reason make when some parts in the attitude measurement subsystem (40) under the satellite work at present pattern break down, attitude measurement in the attitude measurement subsystem (4) comprehensively resolves unit (45) and can switch the attitude measurement parts, continues to finish attitude measurement by other attitude measurement unit construction.
4. a kind of attitude of satellite control ground semi-physical system according to claim 1 based on the multiple goal machine, it is characterized in that: the rate damping of when rail flies, experiencing at satellite, sun acquisition, day multi-operation mode such as orientation, absolute orientation, because space single-particle inversion effect, locking single particle effect, perhaps other reason makes the attitude measurement in the attitude measurement subsystem (4) comprehensively resolve unit (45) when breaking down, and can control total system (3) by attitude and continue to finish attitude algorithm.
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