CN103279157A - Temperature controlling method for satellite-borne rubidium clock temperature-control cabin - Google Patents
Temperature controlling method for satellite-borne rubidium clock temperature-control cabin Download PDFInfo
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- CN103279157A CN103279157A CN2013102178023A CN201310217802A CN103279157A CN 103279157 A CN103279157 A CN 103279157A CN 2013102178023 A CN2013102178023 A CN 2013102178023A CN 201310217802 A CN201310217802 A CN 201310217802A CN 103279157 A CN103279157 A CN 103279157A
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Abstract
The invention discloses a temperature controlling method for a satellite-borne rubidium clock temperature-control cabin and belongs to the technical field of spacecraft thermal control. Firstly, the maximum power needed by additional heating of a heater is detached, so that multiple one-way heaters with low power are formed. Secondly, thermal hysteresis time of the one-way heaters is calculated so as to design a control time interval of each one-way heater, after control of all the heaters is finished according to the time intervals, a complete heating and control period is formed. A system is provided with a backup temperature sensor and the heaters, when a main temperature sensor is effective or the main heater incorrectly responds to a controller switch order, primary backup switch is finished. The method for controlling the temperature and automatically dealing with a fault can provide high-precision and high-stability temperature control for the working environment of a rubidium clock. The control method is simple, high-efficiency, reliable and capable of meeting the requirement for long-time orbital continuous and stable work.
Description
Technical field
Invention relates to a kind of temperature control and autonomous method of disposal of fault of spaceborne rubidium clock temperature control cludy, belongs to spacecraft thermal control technical field.
Background technology
Satellite atomic clock need be operated under the temperature environment of a high temperature-controlled precision and high temperature control degree of stability usually.Being example with the Navsat, requiring the environment temperature control accuracy of rubidium atomic clock to be better than ± 0.3 ℃, day degree of stability control is better than ± and 1 ℃.
One of the general configuration effort rubidium clock of Navsat, one of Hot Spare rubidium clock and some cold standby rubidium clocks.In the rail flight course, may carry out operations such as active and standby part of switching, cold and hot backup switching to rubidium clock.Simultaneously, different its steady operation hear rates of the manufacturer of rubidium clock and startup hear rate Changing Pattern are also inequality.Thermal control subsystem is provided with independently temperature control cludy to spaceborne rubidium clock, need carry out temperature control to whole cludy and the rubidium clock of installing equipment integral body, and guarantee wholely during rail flight, all satisfying rubidium clock to the requirement of control accuracy and the degree of stability of working environment under the operating modes, and can adapt between total life cycle at rail flight space hot-fluid changing environment.
According to the requirement of Navsat operation control, the cludy temperature control system also needs to guarantee to be no less than 60 days continuous reliability service requirement at nobody for keeping under the intervention condition.
The PID control method is usually used in the high-precision control system, by choosing proper proportion, integration, differential control parameter, adjusts controlled quentity controlled variable in real time, reduces departure effectively, reaches the purpose of high precision control.In the high-precision temperature control system, influenced by the thermal capacitance of controlled object, for big thermal capacitance controlled object, the heat lag phenomenon is more serious especially.The variation of the variation of rubidium clock hear rate, outer hot-fluid input and cludy leak the variation of heat, can make ratio in the cludy temperature control system, integration, differential isoparametric choose and the process of adjusting complicated.In the PID temperature control system, need to realize that heating power is adjustable, the feed circuit that make well heater are become complicated.Therefore, adopt PID temperature control system commonly used, rubidium clock and cludy are carried out the temperature control of high precision, high stability, its system itself is comparatively complicated, is unfavorable for the realization of goal of the highly reliable continous-stable operation of Navsat during rail flight.
Summary of the invention
In view of this, the invention provides a kind of temperature-controlled process of spaceborne rubidium clock temperature control cludy, the temperature control of high precision, high stability can be provided for the rubidium clock working environment, and control method is simple, efficient, reliable, and can satisfy for a long time in the job requirement of rail continous-stable.
A kind of temperature-controlled process of spaceborne rubidium clock temperature control cludy, it is as follows specifically to control step:
The first step: according to rubidium clock cludy heat-sinking capability, in rubidium clock hear rate, celestial body to the input of rubidium clock cludy heat, space heat flux to the heat input of rubidium clock cludy all hour, calculate the required peak power of well heater compensation heating; Behind branches such as peak power, will wait branch umber substitution rubidium clock cludy finite element thermal analysis realistic model to verify, draw simultaneously and to satisfy that to split way few as far as possible, and the single channel heater power tries one's best five equilibrium umber n little, form the low power single channel well heater in n road;
Second step: according to power and the rubidium clock cludy thermal capacitance of single channel well heater, temperature control upper threshold, the heat lag time that temperature control threshold value lower limit and single channel well heater way are calculated the single channel well heater, with the control cycle of heat lag time as the single channel well heater, again according to the control cycle of single channel well heater and control interval heat time heating time between the single channel well heater way calculating single channel well heater;
Wherein, t
SluggishBe the heat lag time, c is rubidium clock cludy thermal capacitance, w
SingleBe single channel heater power, T
OnBe temperature control upper threshold, T
DownBe temperature control threshold value lower limit, n is the five equilibrium umber, i.e. the way of single channel well heater, t
CycleBe the heating control cycle of single channel well heater, Δ t is interval heat time heating time between the single channel well heater;
The 3rd step: according to the requirement of rubidium clock operating ambient temperature control threshold value, when target temperature is lower than control threshold value lower limit T
DownThe time, all single channel well heaters all are held open state; When target temperature is higher than control upper threshold T
OnThe time, all single channel well heaters all keep closed condition; Target temperature is in temperature control threshold value bound interval the time, and control n single channel well heater and begin unlatching in proper order from the first via and heat, wherein, at a t
CycleIn, be the heat time heating time of i road single channel well heater
Wherein, t
iIt is the heat time heating time of i well heater in a heating control cycle; T
CiBe temperature sensor observed temperature before i road single channel well heater begins to heat, i=1,2......n;
By formula first via well heater is a heat time heating time of heating in the control cycle in (3) calculating single channel well heater, and the heating control cycle by the single channel well heater carries out loop cycle then; The opening time of adjacent two-way single channel well heater is spaced apart Δ t, all carries out temperature control follow-up each heating cycle as stated above.
By above-mentioned to heat time heating time and the heating time sequence control, the combination of several roads single channel well heater, modulate the change power heating systems of heating power stepped change, difference between compensation cludy input hear rate and the heat radiation hear rate changes, and guarantees that rubidium clock and cludy temperature maintenance are a stable control target temperature level.
Wherein, the process of setting up of rubidium clock cludy finite element thermal analysis realistic model is: set up finite element model by the structure of rubidium clock cludy, the layout of rubidium clock, the nominal hear rate data of configuration rubidium clock, by the structure of rubidium clock cludy, the surface state of rubidium clock thermophysical property is set, the contact heat transfer coefficient of rubidium clock and rubidium clock cludy is set, sets up rubidium clock cludy finite element thermal analysis realistic model.
The autonomous disposal process of fault:
Main part temperature sensor and backup temperature sensor are set in the temperature control cludy, main part well heater and backup well heater also are set simultaneously;
The temperature sensor fault is disposed: the cludy temperature that the main part temperature sensor of monitoring is in real time gathered in real time, judge whether a main part temperature sensor failure of removal takes place, if judge main part of temperature sensor fault, switch to the backup temperature sensor cludy temperature is measured to participate in calculating heat time heating time in real time;
Heater failure is disposed: the main part well heater of monitoring in real time if the switch order response is incorrect, switches to the work of backup well heater to the correctness of switch commanded response.
Beneficial effect:
1, the present invention is by the method for " timesharing+ratio " control, can form heating power (fabric width) and the heating control system that all can modulate of heating dutycycle (frequency), finish the modulation control to compensation heating power in the temperature controlled processes of rubidium clock cludy.Control method of the present invention replaces conventional PID control method, realizes high precision, the control of high stability temperature of rubidium clock cludy.
2, adopt temperature-controlled process of the present invention after, Navsat rubidium clock cludy temperature control precision during rail flight is better than ± 0.15 ℃, the control degree of stability is better than ± 0.12 ℃/day.
3, to make the hardware design of controller will be more simple and reliable in the present invention.Only need adopt the regular tap control circuit to come control heater to get final product, need not to adopt pulse-width modulation circuit.The heating installation power supply interface is also simpler, provides the power supply of single voltage to get final product, and need not to produce the power-supplying interface module of variable heating voltage.
4, big thermal capacitance controlled object is carried out high precision, temperature controlled while of high stability reaching, more simple, reliable by the control system of the present invention's design, can satisfy the requirement that the Navsat continous-stable moves.
Description of drawings
Fig. 1 is satellite rubidium clock cludy precise temperature control well heater control sequential relationship.
Embodiment
Below in conjunction with the accompanying drawing embodiment that develops simultaneously, describe the present invention.
The invention provides a kind of temperature-controlled process of spaceborne rubidium clock temperature control cludy, is example with navigation GEO satellite rubidium clock cludy, and its control step is as follows:
The first step: according to navigation GEO satellite rubidium clock cludy heat-sinking capability, in rubidium clock hear rate, celestial body to the input of rubidium clock cludy heat, space heat flux to the heat input of cludy hour, calculating the required peak power of rubidium clock cludy compensation heating is 342W; Peak power being carried out five equilibrium, will wait branch umber substitution rubidium clock cludy finite element thermal analysis realistic model to verify, is 6 o'clock thereby draw the five equilibrium umber, and it is few as far as possible to satisfy the fractionation way simultaneously, and the single channel heater power is as far as possible little; So peak power is divided into the single channel well heater that six road power are 57W;
Second step: according to the power w of single channel well heater
SingleFor 57W, rubidium clock cludy thermal capacitance c are 17100J/K, temperature control upper threshold T
OnBe 1.3 ℃, temperature control threshold value lower limit T
DownBe that 0.7 ℃ and single channel well heater way n are 6, calculated the heat lag time t of single channel well heater by formula 1
SluggishBe 30s, with heat lag time t
SluggishControl cycle t as the single channel well heater
CycleThe control interval of delta t of calculating between the single channel well heater according to formula 2 heat time heating time is 5s then;
The 3rd step: according to the requirement of rubidium clock operating ambient temperature control threshold value, when target temperature was lower than 0.7 ℃ of control threshold value lower limit, all single channel well heaters all were held open state; When target temperature was higher than 1.3 ℃ of upper thresholds of control, all single channel well heaters all kept closed condition; Target temperature is within 0.7 ℃～1.3 ℃ of temperature control threshold intervals the time, and by formula (3) calculate the heat time heating time of each road single channel well heater in a heating control cycle, and namely well heater is opened duration, and all the other times do not heat;
t
iBe the heat time heating time of i well heater in a heating control cycle, i.e. dutycycle; T
CiBe temperature sensor observed temperature before i road single channel well heater begins to heat, i=1,2......n;
As shown in Figure 1, in the starting point of a control cycle, gather the cludy temperature in real time by temperature sensor, calculating for the No. 1 well heater heat time heating time according to formula (3) is 25s, begin the 1 tunnel heater button control, behind 25s, close the No. 1 well heater to a control cycle 30s and finish; Behind control interval heat time heating time 5s, the cludy temperature that temperature sensor is gathered in real time calculates the No. 2 well heater according to formula (3) and also is 25s heat time heating time, begins the 2 tunnel heater button control, the No. 2 well heater is opened after first via well heater is opened 5s, closes behind 25s; Calculate by that analogy the heat time heating time of follow-up well heater, and up to the control of finishing last road well heater, thereby the well heater of finishing a complete cycle is controlled; The above-mentioned control flow of follow-up then loop cycle.
The autonomous disposal process of fault:
Main part temperature sensor and backup temperature sensor are set in the temperature control cludy, also are provided with main part well heater and backup well heater simultaneously, above temperature sensor is all realized the main part of autonomous switching to backup by control system according to relevant criterion with well heater;
The temperature sensor fault is disposed: give control system by the cludy temperature that main part temperature sensor is gathered in real time, control system is compared interpretation in real time with temperature value and given temperature range, judge whether a main part temperature sensor failure of removal takes place, if judge main part of temperature sensor fault, control system initiatively switches to the backup temperature sensor, is calculated heat time heating time by the cludy temperature participation of backup temperature sensor measurement;
Heater failure is disposed: judge in real time that by control system main part well heater is to the correctness of switch commanded response, after controller sends switch order, gather the on off state of main part well heater in real time, if and instruction is not inconsistent, then judge main part heater failure, control system initiatively switches to the work of backup well heater.
In sum, more than be preferred embodiment of the present invention only, be not for limiting protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (3)
1. the temperature-controlled process of a spaceborne rubidium clock temperature control cludy is characterized in that, it is as follows specifically to control step:
The first step: according to rubidium clock cludy heat-sinking capability, in rubidium clock hear rate, celestial body to the input of rubidium clock cludy heat, space heat flux to the heat input of rubidium clock cludy all hour, calculate the required peak power of well heater compensation heating; Behind branches such as peak power, will wait branch umber substitution rubidium clock cludy finite element thermal analysis realistic model to verify, draw simultaneously and to satisfy that to split way few as far as possible, and the single channel heater power tries one's best five equilibrium umber n little, form the low power single channel well heater in n road;
Second step: according to power and the rubidium clock cludy thermal capacitance of single channel well heater, temperature control upper threshold, the heat lag time that temperature control threshold value lower limit and single channel well heater way are calculated the single channel well heater, with the control cycle of heat lag time as the single channel well heater, again according to the control cycle of single channel well heater and control interval heat time heating time between the single channel well heater way calculating single channel well heater;
Wherein, t
SluggishBe the heat lag time, c is rubidium clock cludy thermal capacitance, w
SingleBe single channel heater power, T
OnBe temperature control upper threshold, T
DownBe temperature control threshold value lower limit, n is the five equilibrium umber, i.e. the way of single channel well heater, t
CycleBe the heating control cycle of single channel well heater, Δ t is interval heat time heating time between the single channel well heater;
The 3rd step: according to the requirement of rubidium clock operating ambient temperature control threshold value, when target temperature is lower than control threshold value lower limit T
DownThe time, all single channel well heaters all are held open state; When target temperature is higher than control upper threshold T
OnThe time, all single channel well heaters all keep closed condition; Target temperature is in temperature control threshold value bound interval the time, and control n single channel well heater and begin unlatching in proper order from the first via and heat, wherein, at a t
CycleIn, be the heat time heating time of i road single channel well heater
Wherein, t
iIt is the heat time heating time of i well heater in a heating control cycle; T
CiBe temperature sensor observed temperature before i road single channel well heater begins to heat, i=1,2......n;
By formula first via well heater is a heat time heating time of heating in the control cycle in (3) calculating single channel well heater, and the heating control cycle by the single channel well heater carries out loop cycle then; The opening time of adjacent two-way single channel well heater is spaced apart Δ t, all carries out temperature control follow-up each heating cycle as stated above.
2. the temperature-controlled process of spaceborne rubidium clock temperature control cludy as claimed in claim 1, it is characterized in that, the process of setting up of rubidium clock cludy finite element thermal analysis realistic model is in the described first step: set up finite element model by the structure of rubidium clock cludy, the layout of rubidium clock, the nominal hear rate data of configuration rubidium clock, by the structure of rubidium clock cludy, the surface state of rubidium clock thermophysical property is set, the contact heat transfer coefficient of rubidium clock and rubidium clock cludy is set, sets up rubidium clock cludy finite element thermal analysis realistic model.
3. the temperature-controlled process of spaceborne rubidium clock temperature control cludy as claimed in claim 1, it is characterized in that, also comprise the autonomous disposal process of fault: main part temperature sensor and backup temperature sensor are set, main part well heater and backup well heater also are set simultaneously in the temperature control cludy;
The temperature sensor fault is disposed: the cludy temperature that the main part temperature sensor of monitoring is in real time gathered in real time, judge whether a main part temperature sensor failure of removal takes place, if judge main part of temperature sensor fault, switch to the backup temperature sensor cludy temperature is measured to participate in calculating heat time heating time in real time;
Heater failure is disposed: the main part well heater of monitoring in real time if the switch order response is incorrect, switches to the work of backup well heater to the correctness of switch commanded response.
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| CN104614983A (en) * | 2014-12-22 | 2015-05-13 | 金川集团股份有限公司 | Automatic control method of large pure hysteresis loop |
| CN104816839A (en) * | 2015-04-22 | 2015-08-05 | 上海微小卫星工程中心 | Satellite platform modular thermal control device |
| CN106175410A (en) * | 2016-08-02 | 2016-12-07 | 杭州九阳欧南多小家电有限公司 | A kind of cooking control method of electric cooker |
| CN107807696A (en) * | 2017-09-22 | 2018-03-16 | 上海卫星工程研究所 | Star upper heater precision temperature control method |
| CN107942994A (en) * | 2017-11-07 | 2018-04-20 | 湖南捷能高新技术有限公司 | A kind of satellite temperature control system method for diagnosing faults based on temperature curve feature |
| CN108490775A (en) * | 2018-03-19 | 2018-09-04 | 上海微小卫星工程中心 | Spacecraft temperature stability control device and control method |
| CN109032203A (en) * | 2018-07-10 | 2018-12-18 | 北京空间飞行器总体设计部 | A kind of intelligent independent heat control system |
| CN110209217A (en) * | 2018-09-28 | 2019-09-06 | 华帝股份有限公司 | Method for controlling temperature of steam box based on irregular period PID |
| CN110712766A (en) * | 2019-10-29 | 2020-01-21 | 北京空间技术研制试验中心 | Hierarchical distributed autonomous thermal control power management method based on integrated electronic system |
| CN111338404A (en) * | 2020-02-27 | 2020-06-26 | 北京空间飞行器总体设计部 | Satellite power temperature control method |
| CN112265653A (en) * | 2020-09-30 | 2021-01-26 | 北京空间飞行器总体设计部 | Spacecraft autonomous thermal control method based on power balance |
| CN113368389A (en) * | 2021-06-08 | 2021-09-10 | 湖南安泰康成生物科技有限公司 | Equipment for inhibiting tumor proliferation by using electric field and control method and device thereof |
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| CN114229043A (en) * | 2021-12-24 | 2022-03-25 | 中国电子科技集团公司第三十四研究所 | Intelligent active thermal control method of thermal control system based on power and temperature balance |
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| CN104614983A (en) * | 2014-12-22 | 2015-05-13 | 金川集团股份有限公司 | Automatic control method of large pure hysteresis loop |
| CN104816839A (en) * | 2015-04-22 | 2015-08-05 | 上海微小卫星工程中心 | Satellite platform modular thermal control device |
| CN106175410A (en) * | 2016-08-02 | 2016-12-07 | 杭州九阳欧南多小家电有限公司 | A kind of cooking control method of electric cooker |
| CN106175410B (en) * | 2016-08-02 | 2018-12-25 | 杭州九阳欧南多小家电有限公司 | A kind of cooking control method of electric cooker |
| CN107807696A (en) * | 2017-09-22 | 2018-03-16 | 上海卫星工程研究所 | Star upper heater precision temperature control method |
| CN107807696B (en) * | 2017-09-22 | 2021-02-02 | 上海卫星工程研究所 | Precise temperature control method for onboard heater |
| CN107942994A (en) * | 2017-11-07 | 2018-04-20 | 湖南捷能高新技术有限公司 | A kind of satellite temperature control system method for diagnosing faults based on temperature curve feature |
| CN107942994B (en) * | 2017-11-07 | 2019-06-28 | 湖南捷能高新技术有限公司 | A kind of satellite temperature control system method for diagnosing faults based on temperature curve feature |
| CN108490775B (en) * | 2018-03-19 | 2020-12-08 | 上海微小卫星工程中心 | Temperature stability control device and control method for spacecraft |
| CN108490775A (en) * | 2018-03-19 | 2018-09-04 | 上海微小卫星工程中心 | Spacecraft temperature stability control device and control method |
| CN109032203A (en) * | 2018-07-10 | 2018-12-18 | 北京空间飞行器总体设计部 | A kind of intelligent independent heat control system |
| CN110209217A (en) * | 2018-09-28 | 2019-09-06 | 华帝股份有限公司 | Method for controlling temperature of steam box based on irregular period PID |
| CN110209217B (en) * | 2018-09-28 | 2021-05-11 | 华帝股份有限公司 | Method for controlling temperature of steam box based on irregular period PID |
| CN110712766A (en) * | 2019-10-29 | 2020-01-21 | 北京空间技术研制试验中心 | Hierarchical distributed autonomous thermal control power management method based on integrated electronic system |
| CN110712766B (en) * | 2019-10-29 | 2021-07-20 | 北京空间技术研制试验中心 | Hierarchical distributed autonomous thermal control power management method based on integrated electronic system |
| CN111338404A (en) * | 2020-02-27 | 2020-06-26 | 北京空间飞行器总体设计部 | Satellite power temperature control method |
| CN111338404B (en) * | 2020-02-27 | 2021-09-24 | 北京空间飞行器总体设计部 | Satellite power temperature control method |
| CN112265653B (en) * | 2020-09-30 | 2022-07-01 | 北京空间飞行器总体设计部 | Spacecraft autonomous thermal control method based on power balance |
| CN112265653A (en) * | 2020-09-30 | 2021-01-26 | 北京空间飞行器总体设计部 | Spacecraft autonomous thermal control method based on power balance |
| CN113368389A (en) * | 2021-06-08 | 2021-09-10 | 湖南安泰康成生物科技有限公司 | Equipment for inhibiting tumor proliferation by using electric field and control method and device thereof |
| CN113368389B (en) * | 2021-06-08 | 2023-03-14 | 湖南安泰康成生物科技有限公司 | Equipment for inhibiting tumor proliferation by using electric field and control method and device thereof |
| CN113625803A (en) * | 2021-08-30 | 2021-11-09 | 上海卫星工程研究所 | Variable-power high-precision temperature control method, system, medium and equipment for spacecraft |
| CN114229043A (en) * | 2021-12-24 | 2022-03-25 | 中国电子科技集团公司第三十四研究所 | Intelligent active thermal control method of thermal control system based on power and temperature balance |
| CN114229043B (en) * | 2021-12-24 | 2023-05-12 | 中国电子科技集团公司第三十四研究所 | Intelligent active heat control method of heat control system based on power and temperature balance |
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