CN104267714A - Satellite attitude track control test system and method - Google Patents
Satellite attitude track control test system and method Download PDFInfo
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- CN104267714A CN104267714A CN201410459347.2A CN201410459347A CN104267714A CN 104267714 A CN104267714 A CN 104267714A CN 201410459347 A CN201410459347 A CN 201410459347A CN 104267714 A CN104267714 A CN 104267714A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
Abstract
The invention provides a satellite attitude track control test system and method. The satellite attitude track control test system comprises a simulator head, a simulator intelligent controller and a simulator remote client side, wherein the simulator head is used for outputting simulation signals in a test and simulating the operating environment of a satellite to be tested; the simulator intelligent controller is connected with the simulator head, controls the operation of the simulator head and collects the work state of the simulator head, and the simulator remote client side is connected with the simulator intelligent controller, controls the operation of the simulator intelligent controller remotely and displays the work state of the simulator head; the simulator remote client side is connected with the simulator intelligent controller through a bus. The satellite attitude track control test system and method can realize a simulator remote control function, carry out remote control and state display through the simulator remote client side, realize unattended operation of a test site, and improve work efficiency.
Description
Technical field
The present invention relates to Aerospace test apparatus field, particularly relate to a kind of satellite attitude orbit and control test macro and system detection method.
Background technology
Satellite attitude and orbit control (attitude orbits controlling) test macro is used for the ground test of Satellite attitude and orbit control subsystem.In traditional Satellite attitude and orbit control test macro, some simulator (as solar simulator) does not access test network, needs staff at test site manual operation simulator, cannot implement remote automation and control.
And, will likely can work the mischief to product on star if job failure occurs some simulator.If such as earth simulator for earth warming module breaks down cause warming module continuous heating, if taken measures not in time, can cause damage to infrared earth sensor on star; If the Sunny dummy head rotating mechanism of such as solar simulator is out of control, rotate after arriving specified angle and do not stop operating, if take counter-measure not in time, solar simulator head will bump against the sun sensor on satellite, infringement on-board equipment.
Therefore monitor whether simulator normally works, and take when going wrong treatment measures to be very important in time.Existing method finds fault by hand inspection, easily occurs misoperation and careless and inadvertent fault.In order to improve reliability and the security of test, automatically can identify that simulator fault also can take the system of corresponding measure in the urgent need to a kind of.
On the other hand, unit test is the important component part that satellite controls subsystem test, and whether the performance of each parts of main access control subsystem meets index request.There is no the mutual of information between existing data statistics processing software and simulator, cannot realize exporting programming count test data after setting completed at simulator.Existing method of testing is that a people arranges simulator output as requested, and another one people is responsible for the telemetry of statistical treatment parts specially, and this method occupies a large amount of manpower and time.
In sum, existing Satellite attitude and orbit control test macro relies on manual method, can not meet the control of simulator remote automation, the fault autonomous classification process of simulator and the requirement of unit test data programming count process.
Summary of the invention
The present invention solves following technical matters:
(1), realize the Long-distance Control of simulator, no longer need manually to carry out simulator operation in test site to Satellite attitude and orbit control test macro.
(2), providing and can detect simulator fault voluntarily and the system of taking measures, replacing at present only by manually identifying the mode with handling failure.
(3), automatically carry out statistical treatment to unit test data, work efficiency that a large amount of human time causes is low to avoid statistical work to take.
Technical scheme of the present invention is: a kind of satellite attitude orbit controls test macro, comprising: simulator head, for outputting analog signal in testing, simulates the running environment of satellite to be measured; Simulator intelligent controller, connecting analog device head, the operation of control simulation device head also gathers the duty of simulator head; Simulator Terminal Server Client, connecting analog device intelligent controller, the operation of Long-distance Control simulator intelligent controller the duty of display simulation device head; Simulator Terminal Server Client is connected by bus with simulator intelligent controller.
Comprise Zero greeve controller in simulator intelligent controller, Zero greeve controller is connected to bus; Expert knowledge library is stored, for the work state information comparison with simulator head with failure judgement in Zero greeve controller.
Comprise simulator duty acquisition module in simulator intelligent controller, simulator duty acquisition module gathers the work state information of simulator head, and is connected with Zero greeve controller.
Comprise simulator in simulator intelligent controller and drive power amplifier module, simulator drives the driving of power amplifier module control simulation device head, is connected and is subject to the control of Zero greeve controller with Zero greeve controller.
Also comprise: data statistics computing machine, data statistics computing machine connects bus, accepts the telemetry of the configuration information of simulator intelligent controller broadcast and the sensor of satellite to be measured, automatically carries out the statistical study of test data.
Also comprise: dynamics simulation computer, dynamics simulation computer connects bus, for control simulation device intelligent controller; And dynamics simulation computer connects satellite to be measured.
Also comprise, database server, be connected to bus, to read and to store in the output information of dynamics simulation computer, the duty of simulator head, sensor telemetry intelligence (TELINT) and simulator fault detect interpretation information one or more.
Another aspect provides a kind of satellite attitude orbit control system method of testing, comprise step S1, by simulator head outputting analog signal in testing; Step S2, by simulator intelligent controller connecting analog device head, the operation of control simulation device head also gathers the duty of simulator head; Step S3, by simulator Terminal Server Client connecting analog device intelligent controller, the operation of Long-distance Control simulator intelligent controller the duty of display simulation device head.
Also comprise: step S4, gathered the work state information of simulator head by simulator duty acquisition module, and be sent to the Zero greeve controller in simulator intelligent controller; The work state information comparison of simulator head is carried out to judge whether there is fault by the expert knowledge library stored in Zero greeve controller.
Also comprise: step S5, data statistics computing machine connects bus, accepts the telemetry of the configuration information of simulator intelligent controller broadcast and the sensor of satellite to be measured, automatically carries out the statistical study of test data.
The present invention's advantage is compared with prior art:
(1) present invention achieves the networking of simulator test.By the Zero greeve controller of simulator intelligent controller by bus access to LAN test network.
(2) the present invention can realize simulator remote control function.Carry out Long-distance Control and state display by simulator Terminal Server Client, achieve the unmanned of test site, improve work efficiency.
(3) present invention achieves simulator fault detect and fault handling function.Receive work state information and sensor telemetry intelligence (TELINT) by simulator intelligent controller, call expert knowledge library whether normal to judge present day analog device duty.If simulator fault, so give the alarm and take fault handling measure, on powerful guarantee star and the safety of uphole equipment, improve the safety and reliability of test.
(4) system that the present invention proposes has automaticdata statistical function.Data statistics computing machine, when satellite control system unit test, is received the angle configuration information of simulator intelligent controller broadcast, automatically carries out the statistical study of sensor telemetry by local network LAN bus.Do not need manual operation in the statistic processes of data, thus save a large amount of human time.
(5) system that the present invention proposes adapts to the needs of different test job.Satellite attitude and orbit control system testing is mainly divided into unit test and closed loop test.When unit test, by simulator Terminal Server Client, simulator intelligent controller is arranged; When closed loop test, dynamics simulation computer is controlled simulator intelligent controller in real time by LAN bus communication.
Accompanying drawing explanation
Fig. 1 is the Organization Chart that a kind of satellite attitude orbit of the present invention controls test macro.
Fig. 2 is intrasystem simulator intelligent controller module structure drafting of the present invention.
Fig. 3 is the workflow diagram that a kind of satellite attitude orbit of the present invention controls test macro.
Embodiment
A kind of satellite attitude orbit control test macro with simulator remote control function, networking of the present invention, comprising: simulator intelligent controller, simulator Terminal Server Client, simulator head, database server, dynamics simulation computer, expansion case, interface box, remote measurement Display control computer.Wherein, simulator intelligent controller is connected with simulator Terminal Server Client by LAN bus, and database server, dynamics simulation computer, remote measurement Display control computer are also connected in LAN bus.Outside master control computer is connected with remote measurement Display control computer.Expansion case, interface box are then connected with dynamics simulation computer.
Simulator intelligent controller comprises Zero greeve controller, simulator duty acquisition module, simulator drive singal module, simulator driving power amplifier module etc.Between simulator intelligent controller internal module, communication adopts PXI bus to realize.The communication of simulator intelligent controller and outer testing system, is realized by the LAN interface of Zero greeve controller.
Simulator intelligent controller has two kinds of working methods.The steering order receiving dynamics simulation computer when closed loop test carries out work; The steering order receiving Terminal Server Client when unit test carries out work.
Simulator intelligent controller also has the function of simulator fault detect and process.Simulator duty acquisition module gathers the work state information of simulator, and by inner PXI bus and Zero greeve controller communication.
Remote measurement Display control computer forwards the telemetry intelligence (TELINT) from the sensor of master control computer to test network.Zero greeve controller receives the information of remote measurement Display control computer broadcast by LAN mouth.
The Zero greeve controller of the present embodiment adopts NI PXI-8133 embedded controller, as the control module of the inside PXI bus of simulator intelligent controller.In addition, the control module of other models also can be taked as Zero greeve controller, the demand of demand fulfillment and bus communication and the function of control simulation device head.
Zero greeve controller is equipped with expertise library software, compared by the diagnostic rule of the duty of simulator head, the telemetry intelligence (TELINT) of sensor and expert knowledge library that simulator duty acquisition module is obtained, achieve fault detect warning and the fault emergency handling function of simulator.Zero greeve controller, when simulator is judged to be fault, drives power amplifier module power cut-off by relay to simulator, protects the safety of product on simulator and star.
Simulator head controls by emulator controller, comprises solar simulator head, earth simulator for earth head, star simulator head.Solar simulator head sends simulated solar irradiation, and earth simulator for earth head simulation earth disk and sky background, star simulator head sends simulation star aberration.
An embodiment is illustrated as follows below in conjunction with accompanying drawing:
As shown in Figure 1, there is a Satellite attitude and orbit control test macro for simulator remote control function, mainly comprise simulator intelligent controller, simulator Terminal Server Client, simulator head, database server, dynamics simulation computer, expansion case, interface box, remote measurement Display control computer etc.
Simulator intelligent controller is divided into solar simulator intelligent controller, earth simulator for earth intelligent controller, star simulator intelligent controller.
The Terminal Server Client of simulator is divided into solar simulator Terminal Server Client, earth simulator for earth Terminal Server Client, star simulator Terminal Server Client.
Simulator Terminal Server Client realizes long-range display and the remote control function of simulator.Terminal Server Client adopts the Zero greeve controller communication of LAN and simulator intelligent controller, realizes the long-range display of simulator duty and fault alarm information.Install under the control objectives angle measurement sequence of simulator in the Zero greeve controller of simulator intelligent controller when unit test.
The information of simulator Terminal Server Client display has the work state information of simulator, the fault status information of simulator.The work state information of simulator comprises the temperature on the sky of earth simulator for earth and ground, rolling or pitch axis attitude angle, wide, the front base of string; Solar simulator information comprises little too die head rotational angle, sunlamp light on and off mark etc.; Star simulator information comprises fixed star quantity, magnitude information, sky district information etc.Simulator Terminal Server Client also shows the telemetry intelligence (TELINT) of attitude of satellite sensor simultaneously.
Simulator head controls by simulator intelligent controller.Simulator head comprises solar simulator head, earth simulator for earth head, star simulator head.Solar simulator head sends simulated solar irradiation, and earth simulator for earth head simulation earth disk and sky background, star simulator head sends simulation star aberration.
Database server reads the data such as the output information of dynamics simulation computer, simulator duty, sensor telemetry intelligence (TELINT) and simulator fault detect interpretation information, and completes storage, in order to inquiry.
Data statistics computing machine according to the simulator angle configuration information that simulator intelligent controller is broadcasted in lan network, can carry out sensor performance test data statistical function when unit test automatically.After test terminates, export and print data statistical report.The data statistics of data statistics computing machine primary responsibility Satellite attitude and orbit control subsystem sensor telemetry intelligence (TELINT), specifically has: the mean and variance of the wide and front base of infrared earth sensor string; The average of the angular velocity that gyro exports and variance, gyroscope constant value drift calculates, and the random drift of gyro calculates; The angle of simulated solar sensor exports mean and variance; The angle of digital sun sensor exports and variance; Star sensor exports the mean and variance etc. of hypercomplex number q0, q1, q2, q3.
Remote measurement Display control computer is responsible for fast frame on star, slow frame, attitude broadcast data and the true form of significant data and the display of decoded data.Remote measurement Display control computer forwards the telemetry intelligence (TELINT) from master control computer to test network.
As shown in Figure 2, simulator intelligent controller comprises Zero greeve controller, simulator duty acquisition module, simulator drive singal module, simulator driving power amplifier module etc.
PXI bus communication is adopted between simulator intelligent controller internal module of the present invention.PXI Zero greeve controller is accessed in test network by LAN.The given angle instruction of dynamics simulation computer is received when closed loop test.Zero greeve controller and simulator remote client end communication, issue Terminal Server Client by the job information of simulator and fault detection information, and receive the given simulator output angle command of Terminal Server Client when unit test.
Expert knowledge library is stored in Zero greeve controller, by the duty of simulator head, the telemetry intelligence (TELINT) of sensor (on-board equipment) and the diagnostic rule of expert knowledge library are compared, realize reporting to the police to the fault detect of simulator, and carry out fault emergency processing.Zero greeve controller, when simulator is judged to be fault, can drives power amplifier module power cut-off by relay to simulator, protect the safety of product on simulator and star.
The interpretation of expert knowledge library and handling failure rule can set according to the actual conditions of different satellite.Typically several diagnostic rules such as: earth simulator for earth sky and the ground difference in temperature continue to become large, after temperature gap reaches default fault threshold, give the alarm and close earth simulator for earth power supply; Remote measurement infrared intensity value continues to become large, after reaching default fault threshold, gives the alarm and closes earth simulator for earth power supply.Little too mould (Sunny model) head of solar simulator continues to rotate, and after the difference of rotational angle and set angle exceedes threshold value, gives the alarm and closes too die section power supply.Remote measurement simulated solar angle exports and exceedes threshold value with the difference of angle setpoint, or remote measurement numeral sun angle exports and the difference of angle setpoint exceedes threshold value, gives the alarm and closes too die section power supply.
Simulator duty acquisition module is communicated with Zero greeve controller by PXI bus, and main collection simulator head work state information, after isolation is amplified, then is sampled by A/D, the job information of simulator is changed into digital quantity from analog quantity.The simulator work state information of main collection has that the temperature on the sky of earth simulator for earth and ground, rolling or pitch axis attitude angle, string are wide, front base etc.Solar simulator information comprises little too die head rotational angle, sunlamp light on and off mark etc.Star simulator information comprises fixed star quantity, magnitude information, sky district information etc.
Simulator drive singal module is communicated with Zero greeve controller by PXI bus, according to the instruction of Zero greeve controller input, produces the control signal of simulator head.The control signal of solar simulator head comprises simulator head rotation angle, sunlamp light on and off signal etc.The control signal of earth simulator for earth head comprises the temperature control signals of warming module, the position control signal, the wide control signal of simulation string etc. of simulation earth disk.The control signal of star simulator comprises star chart information, magnitude information etc.
Simulator power amplifier module and simulator drive singal model calling, realized the power amplification function of simulator head control signal and be connected with simulator head by cable, controlling simulator head.
Sensor telemetry intelligence (TELINT) on satellite comprises infrared intensity, infrared current of electric, infrared acquisition actuator temperature, infraredly see sun strobe, infrared angle valuation, simulated solar angle, simulated solar is shown in sun strobe, numeral sun angle, numeral sun standard-sized sheet code, the numeral sun is shown in sun strobe, the quick background mean value of star, background threshold, the quick head temperature of star, extract star number, identify star number etc., these information are gathered by other subsystems, master control computer is delivered to by LAN bus, remote measurement Display control computer communicates with master control computer and forwards telemetry intelligence (TELINT) to each equipment in bus, such as data statistics computing machine is analyzed, database server stores, remote measurement Display control computer shows etc.
As shown in Figure 3, workflow is after simulator powers on, executive system initialization.Self-inspection is carried out to simulator device state, checks internal bus communication and outside LAN communications status.After self-inspection completes, carry out self-inspection condition adjudgement.Self-inspection is successfully carried out next step simulator and is exported zeroing, after zeroing, and interpretation whether zero-bit.Be defined as zero-bit, return to zero successfully, simulator information be manually set during unit test or select to load cycle tests, during closed loop test, simulator being set according to the angle that dynamics simulation computer is given.Simulator exports after the complete or closed loop test of angle terminates by cycle tests, and simulator stops exporting, and test terminates.
Can select during unit test to load cycle tests.Cycle tests comprises a series of output angles of simulator, and each angle exports corresponding certain hour.Such as solar simulator exports angle cycle tests is "-15 ° ,-5 ° ,-1.5 °, 0 °, 1.5 °, 5 °, 15 ° ".Each angle can arrange the time of output, and typical set is 1 minute.
Select during closed loop test Dynamic Star simulator intelligent controller and earth simulator for earth intelligent controller respectively with dynamics simulation computer real-time communication, and the angle on target provided according to dynamics simulation computer in real time, arranges simulator and provides corresponding angle.
The output configuration information of simulator is broadcast in test network by simulator intelligent controller simultaneously, and data statistics computing machine, according to the output information of simulator, is chosen the satellite sensitive device telemetry intelligence (TELINT) of corresponding time period, and carried out data statistics processing.Data statistics computing machine is by obtaining the telemetry intelligence (TELINT) of satellite sensitive device with database server communication.
Dynamics simulation computer is by software simulation space environment and satellite dynamics control law.Provide attitude signal by interface, receive the signal that topworks is transmitted, carry out analysis and calculation.Calculate the force and moment acted on satellite, carry out dynamics transfer and calculate, obtain angular velocity and the attitude of satellite, then convert the input information of each sensor to, deliver to corresponding simulator by LAN bus.
The concrete technology that the present invention does not describe, the inner structure of such as each computing machine or module and inner software processing method, belong to prior art well known by persons skilled in the art.
Claims (10)
1. satellite attitude orbit controls a test macro, it is characterized in that, comprising:
Simulator head, for outputting analog signal in testing, simulates the running environment of satellite to be measured;
Simulator intelligent controller, connects described simulator head, controls the operation of described simulator head and gathers the duty of described simulator head;
Simulator Terminal Server Client, connects described simulator intelligent controller, and the operation of simulator intelligent controller described in Long-distance Control also shows the duty of described simulator head;
Described simulator Terminal Server Client is connected by bus with described simulator intelligent controller.
2. satellite attitude orbit according to claim 1 controls test macro, and it is characterized in that, comprise Zero greeve controller in described simulator intelligent controller, described Zero greeve controller is connected to described bus; Expert knowledge library is stored, for the work state information comparison with described simulator head with failure judgement in described Zero greeve controller.
3. satellite attitude orbit according to claim 2 controls test macro, it is characterized in that, simulator duty acquisition module is comprised in described simulator intelligent controller, described simulator duty acquisition module gathers the work state information of described simulator head, and is connected with described Zero greeve controller.
4. satellite attitude orbit according to claim 3 controls test macro, it is characterized in that, comprise simulator in described simulator intelligent controller and drive power amplifier module, described simulator drives power amplifier module to control the driving of described simulator head, is connected and is subject to the control of described Zero greeve controller with described Zero greeve controller.
5. satellite attitude orbit according to claim 1 controls test macro, it is characterized in that, also comprise: data statistics computing machine, described data statistics computing machine connects described bus, accept the telemetry of the configuration information of described simulator intelligent controller broadcast and the sensor of described satellite to be measured, automatically carry out the statistical study of test data.
6. satellite attitude orbit according to claim 1 controls test macro, and it is characterized in that, also comprise: dynamics simulation computer, described dynamics simulation computer connects described bus, for controlling described simulator intelligent controller; And described dynamics simulation computer connects described satellite to be measured.
7. satellite attitude orbit according to claim 6 controls test macro, also comprise, database server, be connected to described bus, read and to store in the output information of described dynamics simulation computer, the duty of described simulator head, sensor telemetry intelligence (TELINT) and simulator fault detect interpretation information one or more.
8. a satellite attitude orbit control system method of testing, is characterized in that, comprises,
Step S1, by simulator head outputting analog signal in testing;
Step S2, connects described simulator head by simulator intelligent controller, controls the operation of described simulator head and gathers the duty of described simulator head;
Step S3, connects described simulator intelligent controller by simulator Terminal Server Client, and the operation of simulator intelligent controller described in Long-distance Control also shows the duty of described simulator head.
9. satellite attitude orbit control system method of testing according to claim 8, is characterized in that, comprise,
Step S4, is gathered the work state information of described simulator head, and is sent to the Zero greeve controller in simulator intelligent controller by simulator duty acquisition module; The work state information comparison of described simulator head is carried out to judge whether there is fault by the expert knowledge library stored in Zero greeve controller.
10. satellite attitude orbit control system method of testing according to claim 8, is characterized in that, comprise,
Step S5, data statistics computing machine connects described bus, accepts the telemetry of the configuration information of described simulator intelligent controller broadcast and the sensor of described satellite to be measured, automatically carries out the statistical study of test data.
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| CN109856995A (en) * | 2019-03-04 | 2019-06-07 | 北京空间飞行器总体设计部 | A kind of whole star control subsystem analog platform towards test method verifying assessment |
| CN110561328A (en) * | 2019-08-29 | 2019-12-13 | 北京航天新风机械设备有限责任公司 | Control system of satellite attitude adjustment trolley |
| CN110561328B (en) * | 2019-08-29 | 2024-04-19 | 北京新风航天装备有限公司 | Control system of satellite attitude adjustment trolley |
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| CN104267714B (en) | 2017-06-13 |
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