CN103279157B - 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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- CN103279157B CN103279157B CN201310217802.3A CN201310217802A CN103279157B CN 103279157 B CN103279157 B CN 103279157B CN 201310217802 A CN201310217802 A CN 201310217802A CN 103279157 B CN103279157 B CN 103279157B
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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
The temperature that invention relates to a kind of satellite-borne rubidium clock temperature-control cabin controls and the autonomous method of disposal of fault, belongs to spacecraft thermal control technical field.
Background technology
Under satellite atomic clock needs to be operated in the temperature environment of a high temperature-controlled precision and high stable temperature control degree usually.For Navsat, require the environment temperature control accuracy of rubidium atomic clock be better than ± 0.3 DEG C, sky degree of stability control be better than ± 1 DEG C.
Navsat general configuration effort rubidium clock one, Hot Spare rubidium clock one and some cold standby rubidium clocks.The operations such as active and standby part switching, cold and hot backup switching may be carried out to rubidium clock in-orbit in flight course.Meanwhile, the manufacturer of rubidium clock its steady operation hear rate different is not identical with startup hear rate Changing Pattern yet.Thermal control subsystem is provided with independently temperature control cludy to spaceborne rubidium clock, need to carry out temperature control to whole cludy and the rubidium clock Whole Equipment installed, and all meet the control accuracy of rubidium clock to working environment and the requirement of degree of stability under operating mode during ensureing whole flight in-orbit, and flight space changes of heat flux environment in-orbit can be adapted between total life cycle.
Run the requirement controlled according to Navsat, cludy temperature control system also needs to ensure to maintain the continuous reliability service requirement being no less than 60 days under without human intervention condition.
PID control method is usually used in high-precision control system, by choosing suitable ratio, integration, differential controling parameters, adjusting controlled quentity controlled variable in real time, effectively reducing departure, reaches the object that high precision controls.In High-precision temperature control system, the thermal capacitance by controlled object affects, and especially for large thermal capacitance controlled object, heat lag phenomenon is more serious.The change of the change of rubidium clock hear rate, Orbital heat flux input and cludy leak the change of heat, can make ratio in cludy temperature control system, integration, differential isoparametric choose with tuning process complicated.In PID temperature control system, needing to realize heating power adjustable, becoming complicated by making the feed circuit of well heater.Therefore, adopt conventional PID temperature control system, carry out high precision to rubidium clock and cludy, the temperature of high stability controls, its system itself is comparatively complicated, be unfavorable for Navsat fly in-orbit during the realization of goal of highly reliable continuous and steady operation.
Summary of the invention
In view of this, the invention provides a kind of temperature-controlled process of satellite-borne rubidium clock temperature-control cabin, the temperature of high precision, high stability can be provided to control for rubidium clock working environment, control method is simple, efficient, reliable, and can meet long-time continous-stable job requirement in-orbit.
A temperature-controlled process for satellite-borne rubidium clock temperature-control cabin, concrete rate-determining steps is as follows:
The first step: according to rubidium clock cludy heat-sinking capability, when rubidium clock hear rate, celestial body input all minimum to the input of rubidium clock cludy heat, space heat flux to the heat of rubidium clock cludy, calculates well heater and compensates the peak power needed for heating; After peak power decile, point number such as grade is substituted into rubidium clock cludy finite element thermal analysis realistic model and verify, show that meeting fractionation way tries one's best few simultaneously, and the decile number n that single channel heater power is as far as possible 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, the temperature control threshold upper limit, temperature control threshold lower limit and single channel well heater way calculate the heat lag time of single channel well heater, using the control cycle of heat lag time as single channel well heater, then calculate the control heating time period between single channel well heater according to the control cycle of single channel well heater and single channel well heater way;
Wherein, t
sluggishfor the heat lag time, c is rubidium clock cludy thermal capacitance, w
singlefor single channel heater power, T
onfor the temperature control threshold upper limit, T
underfor temperature control threshold lower limit, n is decile number, i.e. the way of single channel well heater, t
cyclefor the computer heating control cycle of single channel well heater, Δ t is the heating time period between single channel well heater;
3rd step: the requirement controlling threshold value according to rubidium clock operating ambient temperature, when target temperature is lower than control bottom threshold T
undertime, all single channel well heaters are all held open state; When target temperature is higher than control upper threshold T
ontime, all single channel well heaters all keep closed condition; When target temperature is in temperature control threshold bound interval, control n single channel well heater order from the first via is opened and is heated, wherein, at a t
cyclein, the heat time of the i-th tunnel single channel well heater is
Wherein, t
iit is the heat time of i-th well heater within a computer heating control cycle; T
cibe that the i-th tunnel single channel well heater starts to heat front temperature sensor observed temperature, i=1,2......n;
Calculate the heat time of first via well heater within a computer heating control cycle in single channel well heater by formula (3), then carry out loop cycle by the computer heating control cycle of single channel well heater; The opening time of adjacent two-way single channel well heater is spaced apart Δ t, and follow-up each heating cycle carries out temperature control all as stated above.
By above-mentioned to heat time and the control of heating sequential, the combination of several roads single channel well heater, modulate the Variable power heating systems of heating power stepped change, compensate the change of divergence between cludy input hear rate and heat radiation hear rate, guarantee that rubidium clock and cludy temperature maintain a stable control objectives temperature levels.
Wherein, the process of establishing 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 rubidium clock cludy, main part well heater and backup well heater are also set simultaneously;
Temperature sensor fault is disposed: the rubidium clock cludy temperature of Real-Time Monitoring main part temperature sensor Real-time Collection, judge whether main part temperature sensor failure of removal occurs, if it is determined that main part temperature sensor fault, switch to backup temperature sensor and carry out measuring to participate in heat time calculating in real time to rubidium clock cludy temperature;
Heater failure is disposed: the correctness that the main part well heater of Real-Time Monitoring responds switch order, if switch order response is incorrect, switches to the work of backup well heater.
Beneficial effect:
1, the present invention passes through the method that " timesharing+ratio " controls, the heating control system all can modulated heating power (fabric width) and heating duty ratio (frequency) can be formed, complete the modulation control compensating heating power in the temperature controlled processes to rubidium clock cludy.Control method of the present invention replaces regulatory PID control method, realizes the high precision of rubidium clock cludy, high stability temperature controls.
2, after adopting temperature-controlled process of the present invention, during Navsat flies in-orbit rubidium clock cludy temperature control precision be better than ± 0.15 DEG C, control degree of stability to be better than ± 0.12 DEG C/day.
3, the present invention makes the hardware design of controller will be more simple and reliable.Only need to adopt regular tap control circuit to carry out control heater, without the need to adopting pulse-width modulation circuit.Heating installation power supply interface is also more simple, provides the power supply of single voltage, without the need to producing the power-supplying interface module of variable heating voltage.
4, reach to large thermal capacitance controlled object carry out high precision, high stability temperature controlled while, the control system designed by the present invention is more simple, reliable, can meet the requirement of Navsat continuous and steady operation.
Accompanying drawing explanation
Fig. 1 is satellite rubidium clock cludy precise temperature control well heater Control timing sequence relation.
Embodiment
To develop simultaneously embodiment below in conjunction with accompanying drawing, describe the present invention.
The invention provides a kind of temperature-controlled process of satellite-borne rubidium clock temperature-control cabin, for the GEO satellite rubidium clock cludy that navigates, its rate-determining steps is as follows:
The first step: according to navigation GEO satellite rubidium clock cludy heat-sinking capability, when rubidium clock hear rate, celestial body input minimum to the input of rubidium clock cludy heat, space heat flux to the heat of cludy, the peak power calculated needed for rubidium clock cludy compensation heating is 342W; Peak power is carried out decile, point number such as grade is substituted into rubidium clock cludy finite element thermal analysis realistic model and verify, thus when showing that decile number is six, meet fractionation way as far as possible few, and single channel heater power is as far as possible little simultaneously; Therefore 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 threshold upper limit T
onbe 1.3 DEG C, temperature control threshold lower limit T
underbe 0.7 DEG C and single channel well heater way n be 6, calculated the heat lag time t of single channel well heater by formula 1
sluggishfor 30s, by heat lag time t
sluggishas the control cycle t of single channel well heater
cycle; Then the control heating time period Δ t calculated between single channel well heater according to formula 2 is 5s;
3rd step: the requirement controlling threshold value according to rubidium clock operating ambient temperature, when target temperature is lower than control bottom threshold 0.7 DEG C, all single channel well heaters are all held open state; When target temperature is higher than control upper threshold 1.3 DEG C, all single channel well heaters all keep closed condition; When target temperature is within interval 0.7 DEG C ~ 1.3 DEG C of temperature control threshold, calculate each road single channel well heater heat time within a computer heating control cycle by formula (3), namely duration opened by well heater, and all the other times do not heat;
T
ibe the heat time of i-th well heater within a computer heating control cycle, i.e. dutycycle; T
cibe that the i-th tunnel single channel well heater starts to heat front temperature sensor observed temperature, i=1,2......n;
As shown in Figure 1, in the starting point of a control cycle, by temperature sensor Real-time Collection cludy temperature, calculating No. 1st well heater heat time according to formula (3) is 25s, the heater button starting the 1st tunnel controls, and closes No. 1st well heater to control cycle 30s and terminate after 25s; After controlling heating time period 5s, the cludy temperature of temperature sensor Real-time Collection, calculating No. 2nd well heater heat time according to formula (3) is also 25s, the heater button starting the 2nd tunnel controls, No. 2nd well heater is opened after 5s opened by first via well heater, closes after 25s; The heat time of subsequent heat device calculates by that analogy, until complete the control of last road well heater, thus the well heater completing a complete cycle controls; The above-mentioned control flow of follow-up then loop cycle.
The autonomous disposal process of fault:
In rubidium clock cludy, arrange main part temperature sensor and backup temperature sensor, be also provided with main part well heater and backup well heater, above temperature sensor and well heater all realize the autonomous switching of main part to backup by control system according to related criteria simultaneously;
Temperature sensor fault is disposed: give control system by the rubidium clock cludy temperature of main part temperature sensor Real-time Collection, temperature value and given temperature range are carried out real-time comparison interpretation by control system, judge whether main part temperature sensor failure of removal occurs, if it is determined that main part temperature sensor fault, control system initiatively switches to backup temperature sensor, participates in heat time calculating by the rubidium clock cludy of backup temperature sensor measurement;
Heater failure is disposed: the correctness responded switch order by the main part well heater of control system real-time judgment, after controller sends switch order, the on off state of the main part well heater of Real-time Collection, 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, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (3)
1. a temperature-controlled process for satellite-borne rubidium clock temperature-control cabin, is characterized in that, concrete rate-determining steps is as follows:
The first step: according to rubidium clock cludy heat-sinking capability, when rubidium clock hear rate, celestial body input all minimum to the input of rubidium clock cludy heat, space heat flux to the heat of rubidium clock cludy, calculates well heater and compensates the peak power needed for heating; After peak power decile, point number such as grade is substituted into rubidium clock cludy finite element thermal analysis realistic model and verify, show that meeting fractionation way tries one's best few simultaneously, and the decile number n that single channel heater power is as far as possible 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, the temperature control threshold upper limit, temperature control threshold lower limit and single channel well heater way calculate the heat lag time of single channel well heater, using the control cycle of heat lag time as single channel well heater, then calculate the control heating time period between single channel well heater according to the control cycle of single channel well heater and single channel well heater way;
Wherein, t
sluggishfor the heat lag time, c is rubidium clock cludy thermal capacitance, w
singlefor single channel heater power, T
onfor the temperature control threshold upper limit, T
underfor temperature control threshold lower limit, n is decile number, i.e. the way of single channel well heater, t
cyclefor the computer heating control cycle of single channel well heater, Δ t is the heating time period between single channel well heater;
3rd step: the requirement controlling threshold value according to rubidium clock operating ambient temperature, when target temperature is lower than control bottom threshold T
undertime, all single channel well heaters are all held open state; When target temperature is higher than control upper threshold T
ontime, all single channel well heaters all keep closed condition; When target temperature is in temperature control threshold bound interval, control n single channel well heater order from the first via is opened and is heated, wherein, at a t
cyclein, the heat time of the i-th tunnel single channel well heater is
Wherein, t
iit is the heat time of i-th well heater within a computer heating control cycle; T
cibe that the i-th tunnel single channel well heater starts to heat front temperature sensor observed temperature, i=1,2......n;
Calculate the heat time of first via well heater within a computer heating control cycle in single channel well heater by formula (3), then carry out loop cycle by the computer heating control cycle of single channel well heater; The opening time of adjacent two-way single channel well heater is spaced apart Δ t, and follow-up each heating cycle carries out temperature control all as stated above.
2. the temperature-controlled process of satellite-borne rubidium clock temperature-control cabin as claimed in claim 1, it is characterized in that, in the described first step, the process of establishing 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.
3. the temperature-controlled process of satellite-borne rubidium clock temperature-control cabin 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 in rubidium clock cludy, main part well heater and backup well heater are also set simultaneously;
Temperature sensor fault is disposed: the rubidium clock cludy temperature of Real-Time Monitoring main part temperature sensor Real-time Collection, judge whether main part temperature sensor failure of removal occurs, if it is determined that main part temperature sensor fault, switch to backup temperature sensor and carry out measuring to participate in heat time calculating in real time to rubidium clock cludy temperature;
Heater failure is disposed: the correctness that the main part well heater of Real-Time Monitoring responds switch order, if switch order response is incorrect, switches to the work of backup well heater.
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| CN107807696B (en) * | 2017-09-22 | 2021-02-02 | 上海卫星工程研究所 | Precise temperature control method for onboard heater |
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| 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 |
| CN109032203B (en) * | 2018-07-10 | 2021-02-19 | 北京空间飞行器总体设计部 | Intelligent autonomous thermal control system |
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| 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 |
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| 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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