CN102999042B - Layering fault autonomic diagnostic method of global navigation chart (GNC) system of deep space probe - Google Patents

Abstract

Provided is a layering fault autonomic diagnostic method of a global navigation chart (GNC) system of a deep space probe. The layering fault autonomic diagnostic method comprises the steps of (1) establishing a fault-measurement point incidence matrix, determining that a fault mode is the diagnostic result if the fault mode can be determined only according to the fault-measurement point incidence matrix, and executing the step (2) to perform component-level fault diagnosis if the fault mode can not be determined only according to the fault-measurement point incidence matrix; (2) performing fault diagnosis by utilizing the redundancy relation between sensors of the GNC system and consistency of the input and output relation of an executing mechanism to obtain the member having the fault, and executing the step (3) to perform system-level fault diagnosis if the redundancy relation is not met; (3) judging whether the GNC system is the smallest system, calculating the theoretical angular velocity of the probe if the GNC system is not the smallest system, diagnosing out the specific member having the fault according to the consistency of the theoretical angular velocity and the angular velocity measured by the sensors, and executing the step (4) if the GNC system is the smallest system; and (4) accumulating air injection time of a thruster in an X-axis direction, a Y-axis direction and a Z-axis direction, determining that the GNC system has the fault if the accumulated time in any of the X-axis direction, the Y-axis direction and the Z-axis direction exceeds the preset threshold value within the fixed time, and determining that the GNC system is normal if the accumulated time in any of the X-axis direction, the Y-axis direction and the Z-axis direction does not exceed the preset threshold value within the fixed time.

Description

Deep space probe GNC system layer method for automatic fault diagnosis

Technical field

The invention belongs to Spacecraft malfunction process field, relate to a kind of method for automatic fault diagnosis, the fault being applicable to deep space probe GNC system is independently diagnosed and processes.

Background technology

For survey of deep space task, the detected object of spacecraft, object and residing environment are all different from earth satellite system, thus bring new challenge to the operation of spacecraft and control technology.First the deep space probe flight time is long, and deep space environment X factor is many and complicated, this probability increase just making GNC system and parts meet with accident and break down.Secondly, the communication delay of deep space probe and ground control station is large, and signal also may be blocked by the sun and other celestial bodies, and this makes the navigation and vehicle controL reaction based on ground control station slow, being unfavorable for the process of accident, will be especially very dangerous for manned survey of deep space task.Therefore, in order to ensure that deep space probe can process after breaking down in time, reducing failure risk, needing development automatic fault diagnosis technology, realizing still can independently to the detection of fault, isolation and location when ground communication interrupts completely, the autonomous viability of enhancing survey of deep space.For this reason, NASA (NASA) and European Space Agency (ESA) all consider and adopt automatic fault diagnosis technology in detection mission, and Rosetta (Rosetta) plan etc. that such as Saturn detector Cassini, NEAR task (NEAR), Deep Space 1 (DS-1), the plan of deep space shock and comet detect all develops corresponding automatic fault diagnosis system.China have also contemplated that automatic fault diagnosis technology at deep space probe design aspect, but the trouble diagnosibility had at present is more weak, not yet form the method for diagnosing faults of system, and independence is inadequate.

Summary of the invention

Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, a kind of deep space probe GNC system layer method for automatic fault diagnosis is provided, the method is by divide into several levels such as component-level fault diagnosis, component level fault diagnosis, Methods for Diagnosing System Level Malfunctions by fault diagnosis, thus can independently diagnose as early as possible after fault is occurred, ensure that the safety and reliability of system.

Technical solution of the present invention is: deep space probe GNC system layer method for automatic fault diagnosis, and step is as follows:

(1) according to component failure modes analysis (FMEA) result, fault-measuring point incidence matrix is set up; The self-inspection information, the analog quantity telemetry intelligence (TELINT) that there is provided according to GNC various parts and carry out fault diagnosis according to fault-measuring point incidence matrix, if uniquely can determine fault mode according to fault-measuring point incidence matrix, then this fault mode is diagnostic result; Otherwise go to step (2) and carry out component level fault diagnosis;

(2) utilize the consistance of the superfluous She's relation between GNC system sensitive device and topworks's input/output relation to carry out fault diagnosis, obtain the parts broken down; To redundancy relationship do not met or uniquely can not determine that the parts of fault go to step (3) and carry out Methods for Diagnosing System Level Malfunctions;

(3) judge whether GNC system is minimum system, if not minimum system, then first utilizing the redundancy relationship of sensor or topworks to judge is sensor failure or actuator failure, again the theoretical control moment that controller produces is substituted into dynamics and the kinematical equation of detector, resolve the theoretical angular velocity of detector, the consistance according to theoretical angular velocity and sensor measured angular speed diagnoses out the parts specifically broken down; Otherwise go to step (4); Described minimum system is sensor, topworks does not exist redundancy;

(4) jet time of accumulative thruster three axle all directions, in official hour, if the accumulative jet time of three axle either directions exceedes the threshold value preset, then there is fault in GNC system, otherwise GNC system is normal.

Described component level fault diagnosis mainly comprise diagnose based on the gyro in odd even space, star sensor diagnosis, gyro and star sensor Combining diagnosis; Based on the momenttum wheel fault diagnosis of input and output direct redundancy.

Described gyro and star sensor Combining diagnosis are applicable to gyro and star sensor quantity summation when being more than or equal to 5, and single fault occurs hypothesis, and diagnosis algorithm is as follows:

(2.1) when gyro quantity is 4, according to the consistance that each gyro exports, judge that whether gyro is abnormal, if export consistent, then gyro is all normal, otherwise gyro exists abnormal, goes to step (2.3);

(2.2) when star sensor quantity is 2, according to the consistance that each star sensor exports, judge that whether star sensor is abnormal, if export consistent, then star sensor is normal, otherwise star sensor is abnormal, goes to step (2.3);

(2.3) when gyro or any one parts of star sensor exist abnormal, then the consistance of the angular velocity recorded according to gyro and star sensor, determines trouble unit.

The present invention compared with prior art beneficial effect is:

(1) the survey of deep space spacecraft method for automatic fault diagnosis that the present invention proposes have employed layering, first realizes the fault larger to parts by component-level diagnosis and carries out detection isolation in time, ensure that parts and security of system; Then carry out component level diagnosis, can realize detecting the small fault of parts and isolating; When the Analysis design of system is not enough to carry out component level diagnosis, introduces dynamics and kinematics, make full use of system-level redundancy relationship and carry out system level diagnostic, the fault isolation to sensor and topworks can be realized; When GNC system is minimum system (sensor and topworks do not exist redundancy), whether exceedes setting threshold detecting system by thruster accumulative jet time at the appointed time and whether there is fault.Above-mentioned level can be diagnosed after fault is occurred as early as possible, and fault effects is limited in scope little as far as possible, for consequent malfunction process provides condition, can significantly improve fault detect rate and the isolation rate of deep space probe.

(2) processor that component-level fault diagnosis can make full use of parts self carries out data validity interpretation, reduces the calculating pressure of spaceborne computer;

(3) component level fault diagnosis takes full advantage of redundancy relationship between sensor and input/output relation, and calculated amount is little, real-time good.

(4) Methods for Diagnosing System Level Malfunctions utilizes dynamics and kinematics to refine system-level analytical redundancy relation, can realize the fault isolation of sensor and topworks.

(5) layering that the present invention adopts can be diagnosed after fault is occurred as early as possible, and fault effects is limited in scope little as far as possible, ensure that the safety and reliability of system, meets engineering actual demand.

Accompanying drawing explanation

Fig. 1 is the inventive method process flow diagram.

Embodiment

The invention provides a kind of deep space probe GNC system method for automatic fault diagnosis, the fault diagnosis of GNC system be divide into component-level fault diagnosis, component level fault diagnosis, Methods for Diagnosing System Level Malfunctions three levels.First the self-inspection information of parts self and analog quantity telemetry is utilized to carry out component-level fault diagnosis, next utilizes the redundancy relationship between parts, input/output relation carries out component level fault diagnosis, along with failure condition worsens, when component-level redundancy relationship can not meet the redundancy requirement of component level diagnosis, spacecraft dynamics is utilized to carry out Methods for Diagnosing System Level Malfunctions, finally when GNC system is minimum system, whether exceed setting threshold detecting system by thruster accumulative jet time at the appointed time and whether there is fault.Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described in detail.

(1) component-level fault diagnosis

The self-inspection information that this step utilizes parts self to provide and analog quantity telemetry, adopt fault dictionary method to diagnose, can navigate to the functional module of parts.The self-inspection information of parts comprises RAM self-inspection, reset mode, data effective marker, sees high light mark, mode of operation etc., generally represents normal or abnormal with 0 or 1.Analog quantity telemetry comprises power supply remote measurement, remote temperature sensing, motor remote measurement, telemetering of current, rotary speed direction remote measurement etc., is generally the voltage of 0 ~ 5V.

For analog quantity remote measurement, be first converted into 0 or 1 form represented by red line method.Such as, power supply remote measurement is that 4 ~ 5V is effective, then, when measured value V ∈ [4,5], think that power supply remote measurement is normal, represent with 0; When measured value V ∈ [0,4) time, think that power supply remote measurement is abnormal, represent with 1.

According to component failure modes analysis (FMEA) result or fault simulation analysis result, set up fault-measuring point incidence matrix, as shown in table 1.

Table 1 fault-measuring point incidence matrix

	Measuring point 1	Measuring point 2	…	Measuring point n
					Fault mode 1	1	0	…	1
Fault mode 2	0	0	…	1
					…	…	…	…	…
Fault mode m	0	1	…	0

In upper table, behavior measuring point (set of parts self-inspection information and analog quantity telemetry intelligence (TELINT)), be classified as fault mode, the numeral fault mode of ranks infall and the incidence relation of measuring point, being 0 and representing fault mode on measuring point without impact, is that after 1 expression fault mode occurs, measuring point shows as exception.Therefore, define fault dictionary according to fault-measuring point incidence matrix, in detector runs, detect the output of each measuring point in real time, when measuring point output abnormality, according to the abnormal conditions of different measuring points, by the fault dictionary shown in 1 of tabling look-up, just component-level fault diagnosis can be realized.Such as, when measuring point 2 abnormal (numeral of the row of corresponding measuring point 2 is 1) being detected, time other measuring points all normal (numeral of other measuring points corresponding is 0), can obtain fault by the fault dictionary shown in table 1 is fault mode m.

(2) component level fault diagnosis

When component-level diagnosis uniquely can not determine the source of trouble, be then transferred to component level diagnosis.Component level fault diagnosis mainly comprise the mutual diagnosis of similar sensor, inhomogeneity sensor Combining diagnosis, based on the conforming actuator failure diagnosis of input and output.For deep space probe GNC system configuration conventional at present, here main discuss diagnose based on the gyro in odd even space, star sensor is diagnosed, gyro and star sensor Combining diagnosis, based on the conforming momenttum wheel fault diagnosis of input and output, and it is actual according to engineering, think and only a fault occurs simultaneously, namely meet single fault hypothesis.

Component level diagnosis realizes mainly through the consistance of the superfluous She's relation between sensor and topworks's input/output relation, the therefore following conditions for diagnostics of demand fulfillment:

When 1. utilizing multiple gyro to diagnose mutually, require that participating in the gyro number of determining appearance is greater than 4;

When 2. utilizing multiple star sensor to diagnose mutually, require that participating in the star sensor number of determining appearance is greater than 2;

When 3. utilizing gyro and star sensor to carry out Combining diagnosis, require to participate in and determine the gyro of appearance and star sensor quantity summation is more than or equal to 5;

4. computer for controlling can obtain duties such as sending to the steering order of momenttum wheel and momenttum wheel rotating speed, turn to.

On the basis meeting above condition, realize component level diagnosis by following steps:

1., when participating in the gyro number of determining appearance and being greater than 4, multiple gyro is utilized to diagnose mutually

When available gyro number is greater than 4, according to angle between gyro to measure axle as far as possible close to 90 ° principle introduce wherein 5 gyros be work gyro, set the measured angular speed of 5 gyros as g respectively ₁, g ₂..., g ₅, matrix is installed and is respectively A ₁, A ₂..., A ₅, A ₁~ A ₅be the vector of 1 × 3 dimension.Then by wherein any 3 gyro i, detector three axis angular rate that j, k (i ≠ j ≠ k) determine is

${\mathrm{\ω}}_{\mathrm{ijk}}=\mathrm{inv}\left(\left[\begin{array}{c}{A}_i\\ A_j\\ A_k\end{array}\right]\right)\left[\begin{array}{c}{g}_i\\ g_j\\ g_k\end{array}\right]---\left(1\right)$

Wherein, inv () represents matrix inversion (lower same).The then measured value of l (l ≠ i, j, k) individual gyro and ω _ijkresidual error between the axial projection of this gyro to measure is

ε _ijkl＝|g _l-A _lω _ijk| (2)

By i, j, k, l respectively in 1 ~ 5 value, then can obtain ε respectively ₁₂₃₄, ε ₁₂₃₅, ε ₂₃₄₅, ε ₁₃₄₅, ε ₁₂₄₅, setting threshold residual value r ₀, make when i gyro failure, residual error relevant to i in footnote is all greater than r ₀, and the residual error irrelevant with i is less than r ₀.

Detector in orbit in, utilize residual epsilon _ijklwith threshold value r ₀realize the diagnosis to gyro: respectively diagnosis score value f is set to gyro 1 ~ 5 ₁~ f ₅, work as ε _ijkl> r ₀time, then f _i, f _j, f _k, f _lall subtract 1, work as ε _ijkl< r ₀time, then f _i, f _j, f _k, f _lall add 1, the gyro diagnosing score value to reach 0 is at first fault gyro.

2., when participating in the star sensor number of determining appearance and being greater than 2, multiple star sensor is utilized to diagnose mutually

When the quick number of available star is greater than 2, optionally wherein three stars quick for work star quick, establish 3 quick optical axises recorded of star to be oriented to Z in inertial system respectively _s1, Z _s2, Z _s3, then calculate the quick optical axis included angle of three stars respectively according to measured value:

${\mathrm{\&alpha;}}_{\mathrm{ij}}=\arccos \left(\frac{Z_{\mathrm{Si}}\&CenterDot;Z_{\mathrm{Sj}}}{\left|Z_{\mathrm{Si}}\right|\left|Z_{\mathrm{Sj}}\right|}\right)$ I ≠ j and i, j ∈ (1,2,3) (3)

The installation matrix theoretical angle that respectively can obtain optical axis between quick according to star is α _ij0, then the residual error between the quick i of star and the quick j of star between the measurement result of angle and theoretical value is:

ε _ij＝|α _ij-α _ij0| (4)

Setting threshold residual value r _s0, make when the quick fault of i star, residual error relevant to i in footnote is all greater than r _s0, and the residual error irrelevant with i is less than r _s0.

Detector in orbit in, utilize residual epsilon _ijwith threshold value r _s0realize the diagnosis quick to star: respectively to quick 1 ~ 3 setting diagnosis score value f of star _s1~ f _s3, work as ε _ij> r _s0time, then f _si, f _sjall subtract 1, work as ε _ij< r _s0time, then f _si, f _sjall add 1, diagnosis score value reach at first 0 star quick for fault star quick.

3. when do not meet requirement 1. and 2. and participate in the gyro of determining appearance and star sensor summation be more than or equal to 5 time, utilize gyro and star sensor to carry out Combining diagnosis

What need Combining diagnosis comprises following 2 kinds of situations:

A.4 individual gyro+1 star sensor

When gyro number be 4, the quick number of star be 1 time, first to gyro, whether fault detects.ε is calculated according to formula (2) ₁₂₃₄if, ε ₁₂₃₄< r ₀then illustrate that 4 gyros are all working properly, if otherwise ε ₁₂₃₄> r ₀then illustrate to there is gyro failure.

If gyro is all normal, then carry out fault isolation by gyro to measure result to star is quick.If the quick three-axis attitude angular velocity recorded of star is ω _s=[ω _sx, ω _sy, ω _sz] ', utilizes gyro to calculate three-axis attitude angular velocity

${\mathrm{\&omega;}}_{1234}=\left[\begin{array}{c}{\mathrm{\&omega;}}_{1234x}\\ {\mathrm{\&omega;}}_{1234y}\\ {\mathrm{\&omega;}}_{1234z}\end{array}\right]=\mathrm{inv}\left(\left[\begin{array}{cccc}{A}_1^{\&prime;}& A_2^{\&prime;}& A_3^{\&prime;}& A_4^{\&prime;}\end{array}\right]\left[\begin{array}{c}{A}_1\\ A_2\\ A_3\\ A_4\end{array}\right]\right)\left[\begin{array}{cccc}{A}_1^{\&prime;}& A_2^{\&prime;}& A_3^{\&prime;}& A_4^{\&prime;}\end{array}\right]\left[\begin{array}{c}{g}_1\\ g_2\\ g_3\\ g_4\end{array}\right]---\left(5\right)$

Then calculate residual error:

${\mathrm{\&epsiv;}}_S=\left|\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}({\mathrm{\&omega;}}_{\mathrm{Sx}}(t_0+j*\mathrm{\&Delta;t})-{\mathrm{\&omega;}}_{1234x}(t_0+j*\mathrm{\&Delta;t}))\right|+\left|\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}({\mathrm{\&omega;}}_{\mathrm{Sy}}(t_0+j*\mathrm{\&Delta;t})-{\mathrm{\&omega;}}_{1234y}(t_0+j*\mathrm{\&Delta;t}))\right|$

$+\left|\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}({\mathrm{\&omega;}}_{\mathrm{Sz}}(t_0+j*\mathrm{\&Delta;t})-{\mathrm{\&omega;}}_{1234z}(t_0+j*\mathrm{\&Delta;t}))\right|---\left(6\right)$

Δ t control cycle in formula, t ₀for calculating initial time, m is cumulative number, and subscript " ' " represents matrix transpose (lower same).

Work as ε _sbe greater than setting threshold value r _s0time, then the quick fault of star.

If gyro exists fault, under single fault hypothesis, by star sensor measurement result, it is isolated.Calculate residual error respectively

${\mathrm{\&epsiv;}}_{\mathrm{Gi}}=|\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}{g}_i-A_i\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}({\mathrm{\&omega;}}_S(t_0+j*\mathrm{\&Delta;t})*\mathrm{\&Delta;t})|$ i＝1，2，3，4 (7)

Work as ε _gibe greater than setting threshold value r _g0time, then gyro i fault.

B.3 individual gyro+2 star sensors

When gyro number be 3, star sensor number be 2 time, first to star sensor, whether fault detects.If the quick three-axis attitude angular velocity recorded of star is respectively ω _s1=[ω _s1x, ω _s1y, ω _s1z] ' and ω _s2=[ω _s2x, ω _s2y, ω _s2z] ', calculates ε according to formula (4) ₁₂if, ε ₁₂< r _s0then illustrate that two stars are quick working properly, if otherwise ε ₁₂> r _s0then illustrate to there is the quick fault of star.

If star sensor is all normal, by star sensor measurement result, fault detect and isolation is carried out to gyro, calculate residual error respectively

${\mathrm{\&epsiv;}}_{\mathrm{Gi}}=|\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}{g}_i-A_i\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}({\mathrm{\&omega;}}_{S1}(t_0+j*\mathrm{\&Delta;t})+{\mathrm{\&omega;}}_{S2}(t_0+j*\mathrm{\&Delta;t}))*\mathrm{\&Delta;t}/2|$ i＝1，2，3 (8)

Work as ε _gibe greater than setting threshold value r _g0time, then gyro i fault.

If star sensor exists fault, under single fault hypothesis, by gyro to measure result, it is isolated.The measured value calculating detector three axis angular rate ω of 3 gyros is utilized according to formula (1) _ijk=[ω _ijkxω _ijkyω _ijkz] ', then calculates residual error respectively:

${\mathrm{\&epsiv;}}_{\mathrm{Si}}=\left|\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}({\mathrm{\&omega;}}_{\mathrm{Six}}(t_0+j*\mathrm{\&Delta;t})-{\mathrm{\&omega;}}_{\mathrm{ijkx}}(t_0+j*\mathrm{\&Delta;t}))\right|+\left|\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}({\mathrm{\&omega;}}_{\mathrm{Siy}}(t_0+j*\mathrm{\&Delta;t})-{\mathrm{\&omega;}}_{\mathrm{ijky}}(t_0+j*\mathrm{\&Delta;t}))\right|$

$+\left|\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}({\mathrm{\&omega;}}_{\mathrm{Siz}}(t_0+j*\mathrm{\&Delta;t})-{\mathrm{\&omega;}}_{\mathrm{ijkz}}(t_0+j*\mathrm{\&Delta;t}))\right|$ i＝1，2 (9)

Δ t control cycle in formula, t ₀for calculating initial time, m is cumulative number.

Work as ε _sibe greater than setting threshold value r _s0time, then the quick i fault of star.

4. the momenttum wheel based on input/output relation is diagnosed

If t momenttum wheel input control order is U _wt (), then in the m* Δ t time, the theoretical variable quantity of momenttum wheel angular momentum is $\mathrm{\&Delta;H}=\underset{i=1}{\overset{m}{\mathrm{\&Sigma;}}}(\mathrm{\&Delta;U}(t_0+i*\mathrm{\&Delta;t})*K),$ Wherein Δ U (t) is for t-1 is to the variable quantity of t input instruction.The theoretical variable quantity that therefore can calculate momenttum wheel rotating speed is Δ ω _w=Δ H/I _w.Residual error is obtained according to momenttum wheel actual change amount and theoretical variable quantity

ε _w＝|Δω _w-(ω _w(t ₀+mΔt)-ω _w(t ₀))| (10)

Work as ε _wbe greater than threshold value r _w0time, then think momenttum wheel fault.

(3) Methods for Diagnosing System Level Malfunctions

When not meeting the redundancy condition of component level diagnosis, needing to introduce the star dynamics of detector and kinematics, utilizing the Analysis design between sensor, topworks, the mathematical model of controller and dynamics, kinematics to carry out Methods for Diagnosing System Level Malfunctions.Because momenttum wheel can be diagnosed by the direct redundancy based on input and output, often do not need to be placed on system-level diagnosis.

System level diagnostic is often used for not meeting component level conditions for diagnostics, and GNC system is not the situation of minimum system.Here minimum system refers to the system that sensor, topworks do not exist redundancy.As a kind of typical case, analyze the situation that sensor comprises the quick and 1 group of thruster (containing the positive negative direction of three axles) of 3 gyros, 1 star here, other situations can utilize above-mentioned thought to carry out similarity analysis.

For the situation of quick+1 group thruster of 3 gyros+1 star (containing the positive negative direction of three axles), first utilize the measured value calculating detector three axis angular rate ω of 3 gyros according to formula (1) _ijk=[ω _ijkxω _ijkyω _ijkz] ', then by following formula detect sensor whether there is fault:

${\mathrm{\&epsiv;}}_S=\left|\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}({\mathrm{\&omega;}}_{\mathrm{Sx}}(t_0+j*\mathrm{\&Delta;t})-{\mathrm{\&omega;}}_{\mathrm{ijkx}}(t_0+j*\mathrm{\&Delta;t}))\right|+\left|\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}({\mathrm{\&omega;}}_{\mathrm{Sy}}(t_0+j*\mathrm{\&Delta;t})-{\mathrm{\&omega;}}_{\mathrm{ijky}}(t_0+j*\mathrm{\&Delta;t}))\right|$

$+\left|\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}({\mathrm{\&omega;}}_{\mathrm{Sz}}(t_0+j*\mathrm{\&Delta;t})-{\mathrm{\&omega;}}_{\mathrm{ijkz}}(t_0+j*\mathrm{\&Delta;t}))\right|---\left(11\right)$

Δ t control cycle in formula, t ₀for calculating initial time, m is cumulative number.

Work as ε _sbe greater than setting threshold value r _s0time, then there is fault in sensor, otherwise sensor is normal.

On this basis, drawing-in system kinetics equation:

$I_x{\mathrm{\&omega;}}_x=\frac{1}{S}[(I_y-I_z){\mathrm{\&omega;}}_y{\mathrm{\&omega;}}_z+u_{x,r}]$

$I_y{\mathrm{\&omega;}}_y=\frac{1}{S}[(I_z-I_x){\mathrm{\&omega;}}_z{\mathrm{\&omega;}}_x+u_{y,r}]---\left(12\right)$

$I_z{\mathrm{\&omega;}}_z=\frac{1}{S}[(I_x-I_y){\mathrm{\&omega;}}_x{\mathrm{\&omega;}}_y+u_{z,r}]$

u _x，r＝u _x+Δu _x

u _y，r＝u _y+Δu _y(13)

u _z，r＝u _z+Δu _z

Wherein I=diag (I _x, I _y, I _z) be detector inertia battle array, u _r=[u _{x, r}u _{y, r}u _{z, r}] ' be working control moment, u=[u _xu _yu _z] ' be the desired control moment that controller sends, can be obtained by controller.Δ u=[Δ u _xΔ u _yΔ u _zthe deviation of] ' be between working control moment and desired control moment, normal condition is in a small amount.

When sensor exists fault, make Δ u=0, by u=[u _xu _yu _z] ' substitute into formula (12) calculates the theoretical angular velocity omega of three axles _t=[ω _tx, ω _ty, ω _tz] ', is by following formula isolated fault sensor:

${\mathrm{\&epsiv;}}_{\mathrm{Gi}}=|\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}{g}_i-A_i\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}{\mathrm{\&omega;}}_t(t_0+j*\mathrm{\&Delta;t})*\mathrm{\&Delta;t}|$ i＝1，2，3 (14)

${\mathrm{\&epsiv;}}_S=\left|\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}({\mathrm{\&omega;}}_{\mathrm{Sx}}(t_0+j*\mathrm{\&Delta;t})-{\mathrm{\&omega;}}_{\mathrm{tx}}(t_0+j*\mathrm{\&Delta;t}))\right|+\left|\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}({\mathrm{\&omega;}}_{\mathrm{Sy}}(t_0+j*\mathrm{\&Delta;t})-{\mathrm{\&omega;}}_{\mathrm{ty}}(t_0+j*\mathrm{\&Delta;t}))\right|$

$+\left|\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}({\mathrm{\&omega;}}_{\mathrm{Sz}}(t_0+j*\mathrm{\&Delta;t})-{\mathrm{\&omega;}}_{\mathrm{tz}}(t_0+j*\mathrm{\&Delta;t}))\right|---\left(15\right)$

Δ t control cycle in formula, t ₀for calculating initial time, m is cumulative number.

Work as ε _gibe greater than setting threshold value r _g0time, then there is fault in i-th gyro.

Work as ε _sbe greater than setting threshold value r _s0time, then there is fault in star sensor.

When sensor is all normal, make Δ u=0, by u=[u _xu _yu _z] ' substitute into formula (12) calculates the theoretical angular velocity omega of three axles _t=[ω _tx, ω _ty, ω _tz] ', is by following formula isolated fault sensor:

${\mathrm{\&epsiv;}}_T=\left[\begin{array}{c}{\mathrm{\&epsiv;}}_{\mathrm{Tx}}\\ {\mathrm{\&epsiv;}}_{\mathrm{Ty}}\\ {\mathrm{\&epsiv;}}_{\mathrm{Tz}}\end{array}\right]=|\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}{\mathrm{\&omega;}}_t(t_0+j*\mathrm{\&Delta;t})-\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}\mathrm{inv}\left(\left[\begin{array}{c}{A}_i\\ A_j\\ A_k\end{array}\right]\right)\left[\begin{array}{c}{g}_i(t_0+j*\mathrm{\&Delta;t})/\mathrm{\&Delta;t}\\ g_j(t_0+j*\mathrm{\&Delta;t})/\mathrm{\&Delta;t}\\ g_k(t_0+j*\mathrm{\&Delta;t})/\mathrm{\&Delta;t}\end{array}\right]|---\left(16\right)$

Work as ε _tx, ε _ty, ε _tzbe greater than setting threshold value r _t0time, then there is fault in the thruster in respective direction.

(4) based on the fault detect of jet time constraint

When detecting as minimum system, only carrying out fault detect, no longer carrying out fault isolation.During detector stable operation, with t ₀moment starts the jet time of the positive negative direction of three axles in the accumulative m* Δ t time, if the accumulative jet time in any direction exceedes setting threshold value r _t0, then there is fault in system.

The content be not described in detail in instructions of the present invention belongs to the known technology of those skilled in the art.

Claims (3)

1. deep space probe GNC system layer method for automatic fault diagnosis, is characterized in that step is as follows:

(1) according to component failure modes analysis (FMEA) result, fault-measuring point incidence matrix is set up; The self-inspection information, the analog quantity telemetry intelligence (TELINT) that there is provided according to GNC various parts and carry out fault diagnosis according to fault-measuring point incidence matrix, if uniquely can determine fault mode according to fault-measuring point incidence matrix, then this fault mode is diagnostic result; Otherwise go to step (2) and carry out component level fault diagnosis;

(2) utilize the consistance of the redundancy relationship between GNC system sensitive device and topworks's input/output relation to carry out fault diagnosis, obtain the parts broken down; If do not meet redundancy relationship to go to step (3) and carry out Methods for Diagnosing System Level Malfunctions;

(3) judge whether GNC system is minimum system, if not minimum system, then first utilizing the redundancy relationship of sensor or topworks to judge is sensor failure or actuator failure, again the theoretical control moment that controller produces is substituted into dynamics and the kinematical equation of detector, resolve the theoretical angular velocity of detector, the consistance according to theoretical angular velocity and sensor measured angular speed diagnoses out the parts specifically broken down; Otherwise go to step (4); Described minimum system is sensor, topworks does not exist redundancy;

(4) jet time of accumulative thruster three axle all directions, in official hour, if the accumulative jet time of three axle either directions exceedes the threshold value preset, then there is fault in GNC system, otherwise GNC system is normal.

2. deep space probe GNC system layer method for automatic fault diagnosis according to claim 1, is characterized in that: described component level fault diagnosis mainly comprise diagnose based on the gyro in odd even space, star sensor diagnosis, gyro and star sensor Combining diagnosis and the momenttum wheel fault diagnosis based on input and output direct redundancy.

3. deep space probe GNC system layer method for automatic fault diagnosis according to claim 2, it is characterized in that: described gyro and star sensor Combining diagnosis are applicable to gyro and star sensor quantity summation when being more than or equal to 5, and single fault occurs hypothesis, diagnosis algorithm is as follows:

(2.1) when gyro quantity is 4, according to the consistance that each gyro exports, judge that whether gyro is abnormal, if export consistent, then gyro is all normal, otherwise gyro exists abnormal, goes to step (2.3);

(2.2) when star sensor quantity is 2, according to the consistance that each star sensor exports, judge that whether star sensor is abnormal, if export consistent, then star sensor is normal, otherwise star sensor is abnormal, goes to step (2.3);

(2.3) when gyro or any one parts of star sensor exist abnormal, then the consistance of the angular velocity recorded according to gyro and star sensor, determines trouble unit.