CN104267714B - Orbit satellite attitude control system test and system detection method - Google Patents
Orbit satellite attitude control system test and system detection method Download PDFInfo
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- CN104267714B CN104267714B CN201410459347.2A CN201410459347A CN104267714B CN 104267714 B CN104267714 B CN 104267714B CN 201410459347 A CN201410459347 A CN 201410459347A CN 104267714 B CN104267714 B CN 104267714B
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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
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Abstract
The present invention provides a kind of orbit satellite attitude control system test and system detection method.Orbit satellite attitude control system test of the invention includes：Simulator head, for exporting analog signal in testing, simulates the running environment of satellite to be measured；Simulator intelligent controller, connects simulator head, controls the operation of simulator head and gathers the working condition of simulator head；Simulator remote client, connects simulator intelligent controller, and the operation of remote control simulator intelligent controller simultaneously shows the working condition of simulator head；Simulator remote client is connected with the simulator intelligent controller by bus.The present invention can realize simulator remote control function.Remote control and status display are carried out by simulator remote client, the unattended of test site is realized, operating efficiency is improve.
Description
Technical field
The present invention relates to aerospace test equipment in the field, more particularly to a kind of orbit satellite attitude control system test and it is
Unified test method for testing.
Background technology
Satellite attitude and orbit control (attitude orbits controlling) test system is used for the ground test of satellite attitude and orbit control subsystem.Traditional
Some simulators (such as solar simulator) do not access test network, it is necessary to staff is in test in satellite position rail control test system
On-site manual manipulation simulator, it is impossible to implement remote automatic control.
And, if there is job failure and would be possible to cause harm product on star in some simulators.Such as earth
If simulator warming module breaks down causes warming module continuous heating, if taken measures not in time, can be to red on star
Outer earth sensor causes damage；If the Sunny dummy head rotating mechanism of such as solar simulator is out of control, turns to and reach
Do not stopped operating after specified angle, if taking counter-measure not in time, solar simulator head will be bumped against on satellite too
Positive sensor, damages on-board equipment.
Therefore monitoring simulator whether normal work, and to take treatment measures be extremely important in time when going wrong
's.Existing method manually checks to find failure the fault of operational error and negligence easily occur.In order to improve test
Reliability and security, in the urgent need to it is a kind of being capable of automatic identification simulator failure and system that corresponding measure can be taken.
On the other hand, unit test is the important component that satellite controls subsystem test, and main access control point is
Whether the performance of each part of uniting meets index request.There is no the friendship of information between existing data statistics processing software and simulator
Mutually, it is impossible to realize exporting programming count test data after setting completed in simulator.Existing method of testing be a people according to
It is required that setting simulator output, another people is responsible for the telemetry of statistical disposition part specially, and this method is occupied greatly
Amount manpower and the time.
In sum, existing satellite position rail control test system relies on manual method, can not meet simulator remote
The requirement of process automation control, the failure autonomous classification treatment of simulator and the treatment of unit test data programming count.
The content of the invention
The present invention solves following technical problem：
(1) remote control of simulator, is realized, it is no longer necessary to satellite position rail control test system is entered in test site manually
Row simulator is operated.
(2), providing can voluntarily detect simulator failure and the system for taking measures, substitution only manually recognize at present and
The mode of handling failure.
(3) statistical disposition, is carried out to unit test data automatically, it is to avoid statistical work takes what a large amount of human times caused
Operating efficiency is low.
The technical scheme is that：A kind of orbit satellite attitude control system test, including：Simulator head, is used for
Analog signal is exported in testing, simulates the running environment of satellite to be measured；Simulator intelligent controller, connects simulator head,
Control the operation of simulator head and gather the working condition of simulator head；Simulator remote client, connects simulator intelligence
Can controller, the operation of remote control simulator intelligent controller simultaneously shows the working condition of simulator head；Simulator is long-range
Client is connected with simulator intelligent controller by bus.
Include Zero greeve controller in simulator intelligent controller, Zero greeve controller is connected to bus；Zero greeve controller internal memory
Storage expert knowledge library, compares with failure judgement for the work state information with simulator head.
Include simulator working condition acquisition module in simulator intelligent controller, simulator working condition acquisition module is adopted
The work state information of set simulator head, and be connected with Zero greeve controller.
Include simulator driving amplifier module, simulator driving amplifier module control simulator in simulator intelligent controller
The driving of head, is connected with Zero greeve controller and is controlled by Zero greeve controller.
Also include：Data statistics computer, data statistics bus computer connection receives simulator intelligent controller broadcast
Configuration information and satellite to be measured sensor telemetry, the statistical analysis of test data is carried out automatically.
Also include：Dynamics simulation computer, dynamics simulation computer connection bus, for controlling simulator intelligently to control
Device processed；And dynamics simulation computer connection satellite to be measured.
Also include that database server is connected to bus, read and store dynamics simulation computer output information,
One or more in the working condition of simulator head, sensor telemetry information and simulator fault detect interpretation information.
Another aspect provides a kind of satellite attitude orbit control system method of testing, including step S1, by
Simulator head exports analog signal in testing；Step S2, simulator head is connected by simulator intelligent controller, controls mould
Intend the operation of device head and gather the working condition of simulator head；Step S3, simulator is connected by simulator remote client
Intelligent controller, the operation of remote control simulator intelligent controller simultaneously shows the working condition of simulator head.
Also include：Step S4, the work state information of simulator head is gathered by simulator working condition acquisition module, and
It is sent to the Zero greeve controller in simulator intelligent controller；Device is simulated by the expert knowledge library of zero slot controller memory store
The work state information of head compares to judge whether failure.
Also include：Step S5, data statistics bus computer connection receives the setting letter of simulator intelligent controller broadcast
The telemetry of the sensor of breath and satellite to be measured, carries out the statistical analysis of test data automatically.
Present invention advantage compared with prior art is：
(1) present invention realizes the networking of simulator test.The Zero greeve controller of simulator intelligent controller is passed through
Bus access to LAN test network.
(2) present invention can realize simulator remote control function.Remote control is carried out by simulator remote client
And status display, the unattended of test site is realized, improve operating efficiency.
(3) present invention realizes simulator fault detect and trouble handling function.Received by simulator intelligent controller
Whether work state information and sensor telemetry information, it is normal to judge present day analog device working condition to call expert knowledge library.
If simulator failure, then send alarm and take troubleshooting measure, on powerful guarantee star and ground installation safety,
Improve the safety and reliability of test.
(4) system proposed by the present invention has automaticdata statistical function.Data statistics computer is in satellite control system
During unit test, the angle configuration information that simulator intelligent controller is broadcasted is received by local network LAN bus, carried out automatically quick
The statistical analysis of sensor telemetry.Need not manually be operated in the statistic processes of data, so as to save a large amount of human times.
(5) the need for system proposed by the present invention adapts to different test jobs.Satellite attitude and orbit control system testing is broadly divided into
Unit test and closed loop test.In unit test, simulator intelligent controller is carried out by simulator remote client
Set；In closed loop test, dynamics simulation computer is controlled in real time by LAN bus communications to simulator intelligent controller
System.
Brief description of the drawings
Fig. 1 is a kind of Organization Chart of orbit satellite attitude control system test of the invention.
Fig. 2 is the simulator intelligent controller module structure drafting in system of the invention.
Fig. 3 is a kind of workflow diagram of orbit satellite attitude control system test of the invention.
Specific embodiment
It is of the invention a kind of with simulator remote control function, the orbit satellite attitude control system test of networking,
Including：Simulator intelligent controller, simulator remote client, simulator head, database server, dynamics simulation
Machine, expanding box, interface box, remote measurement display computer.Wherein, simulator intelligent controller is long-range with simulator by LAN buses
Client is connected, and database server, dynamics simulation computer, remote measurement display computer are also connected in LAN buses.It is outside
Master control computer and remote measurement display computer be connected.Expanding box, interface box are then connected with dynamics simulation computer.
Simulator intelligent controller includes Zero greeve controller, simulator working condition acquisition module, simulator drive signal
Module, simulator driving amplifier module etc..Communicated between simulator intelligent controller internal module and realized using PXI buses.Simulation
Device intelligent controller and the communication of outer testing system, are realized by the LAN interface of Zero greeve controller.
Simulator intelligent controller has two kinds of working methods.The control of dynamics simulation computer is received in closed loop test
Instruction is operated；The control instruction that Terminal Server Client is received in unit test is operated.
Simulator intelligent controller also has the function of simulator fault detect and treatment.Simulator working condition gathers mould
Block gathers the work state information of simulator, and is communicated by internal PXI buses and Zero greeve controller.
Remote measurement shows that computer forwards the telemetry intelligence (TELINT) of the sensor from master control computer to test network.Zero groove is controlled
Device receives the information that remote measurement shows computer broadcast by LAN mouthfuls.
The Zero greeve controller of the present embodiment uses NI PXI-8133 embedded controllers, used as simulator intelligent controller
Inside PXI buses control module.In addition, can also take the control module of other models as Zero greeve controller, need
Meet the function of the demand and control simulator head with bus communication.
Zero greeve controller is equipped with expert knowledge software, by the simulator for obtaining simulator working condition acquisition module
The diagnostic rule of the working condition of head, the telemetry intelligence (TELINT) of sensor and expert knowledge library is compared, and realizes simulator
Fault detect alarm and failure emergency function.Zero greeve controller when simulator is judged to failure, by relay to mould
Intend device and drive power amplifier module power cut-off, the safety of product on protection simulator and star.
Simulator head is controlled by emulator controller, including the simulation of solar simulator head, earth Simulator head, star
Device head.Solar simulator head sends simulated solar irradiation, earth Simulator head simulation earth disk and sky background, star mould
Intend device head and send simulation star aberration.
It is as follows one embodiment to be illustrated below in conjunction with accompanying drawing：
As shown in figure 1, a kind of satellite position rail control test system with simulator remote control function, main to include simulation
Device intelligent controller, simulator remote client, simulator head, database server, dynamics simulation computer, expansion
Case, interface box, remote measurement display computer etc..
Simulator intelligent controller is divided into solar simulator intelligent controller, earth simulator for earth intelligent controller, star simulation
Device intelligent controller.
The Terminal Server Client of simulator is divided into solar simulator Terminal Server Client, earth simulator for earth Terminal Server Client, star mould
Intend device Terminal Server Client.
Simulator remote client realizes long-range display and the remote control function of simulator.Terminal Server Client uses LAN
Zero greeve controller with simulator intelligent controller is communicated, and realizes that simulator working condition and the long-range of fault alarm information show
Show.The zero groove control of simulator intelligent controller will be attached under the control targe angle measurement sequence of simulator in unit test
In device.
The malfunction that the information that simulator remote client shows has the work state information of simulator, simulator is believed
Breath.The work state information of simulator includes the sky of earth simulator for earth and the temperature on ground, rolls or pitch axis attitude angle, string
Wide, preceding base；Solar simulator information is including small sun mold head rotational angle, sun lights on and off mark etc.；Star simulator information includes
Number of stars, stars and other information, sky area information etc..Simulator remote client displays that the remote measurement letter of satellite attitude sensor simultaneously
Breath.
Simulator head is controlled by simulator intelligent controller.Simulator head includes solar simulator head, earth mould
Intend device head, star simulator head.Solar simulator head sends simulated solar irradiation, earth Simulator head simulation earth disk
And sky background, star simulator head sends simulation star aberration.
Database server reads output information, simulator working condition, the sensor remote measurement of dynamics simulation computer
The data such as information and simulator fault detect interpretation information, and storage is completed, in case inquiry.
The simulator that data statistics computer is broadcasted according to simulator intelligent controller in unit test in lan network
Angle configuration information, can automatically carry out sensor performance test data statistical function.After test terminates, number is exported and printed
Report according to statistics.Data statistics computer is mainly responsible for the data statistics of satellite attitude and orbit control subsystem sensor telemetry information, tool
Body has：The average and variance of infrared earth sensor chord width and preceding base；The average and variance of the angular speed of gyro output, gyro are normal
Value drift is calculated, and the random drift of gyro is calculated；Angle output average and the variance of simulated solar sensor；The digital sun is sensitive
The angle output of device and variance；Average and variance of star sensor output quaternary number q0, q1, q2, q3 etc..
Remote measurement display computer is responsible for the original code and decoding of fast frame, slow frame, attitude broadcast data and significant data on star
The display of data.Remote measurement shows that computer forwards the telemetry intelligence (TELINT) from master control computer to test network.
As shown in Fig. 2 simulator intelligent controller includes Zero greeve controller, simulator working condition acquisition module, simulation
Device drive signal module, simulator driving amplifier module etc..
PXI bus communications are used between simulator intelligent controller internal module of the invention.PXI Zero greeve controllers pass through
LAN is accessed in test network.The given angle instruction of dynamics simulation computer is received in closed loop test.Zero greeve controller with
Simulator remote client is communicated, and the job information and fault detection information of simulator are issued into Terminal Server Client, and in part
Terminal Server Client given simulator output angle instruction is received during test.
Zero slot controller memory store expert knowledge library, (sets by by the working condition of simulator head, sensor on star
It is standby) telemetry intelligence (TELINT) compare to realize, to the fault detect of simulator alarm, going forward side by side with the diagnostic rule of expert knowledge library
Row failure emergency processing.Zero greeve controller can drive power amplifier by relay when simulator is judged to failure to simulator
Modular power source is powered off, the safety of product on protection simulator and star.
The interpretation of expert knowledge library and handling failure rule can set according to the actual conditions of different satellites.It is typical several
Bar diagnostic rule is for example：Earth simulator for earth sky and the ground difference in temperature persistently become big, after temperature gap reaches default fault threshold,
Send alarm and close earth simulator power；Remote measurement infrared intensity value persistently becomes big, after reaching default fault threshold,
Send alarm and close earth simulator power.Small sun mold (Sunny model) head of solar simulator is persistently rotated, and is rotated
After the difference of angle and set angle exceedes threshold value, send alarm and close too die section power supply.Remote measurement simulate the sun angle
The difference of output and angle setpoint exceedes threshold value, or the difference of remote measurement numeral sun angle output and angle setpoint exceedes threshold
Value, sends alarm and closes too die section power supply.
Simulator working condition acquisition module is communicated by PXI buses with Zero greeve controller, mainly gathers simulator head
Work state information, after amplifying through isolation, then is sampled by A/D, and the job information of simulator is changed into numeral from analog quantity
Amount.The simulator work state information of main collection has the sky of earth simulator for earth and the temperature on ground, rolls or pitch axis appearance
State angle, chord width, preceding base etc..Solar simulator information is including small sun mold head rotational angle, sun lights on and off mark etc..Star simulator
Information is including number of stars, stars and other information, sky area information etc..
Simulator driving signal module is communicated by PXI buses with Zero greeve controller, according to the finger that Zero greeve controller is input into
Order, produces the control signal of simulator head.The control signal of solar simulator head includes simulator head rotational angle, too
Positive lamp on/off signal etc..The control signal of earth Simulator head includes the temperature control signals of warming module, simulation earth circle
Position control signal, simulation chord width control signal of disk etc..The control signal of star simulator includes star chart information, stars and other information
Deng.
Simulator power amplifier module is connected with simulator driving signal module, realizes that the power of simulator head control signal is put
Big function is simultaneously connected by cable with simulator head, and simulator head is controlled.
Sensor telemetry information on satellite includes infrared intensity, infrared motor current, Infrared Detectors temperature, red
It is outer to see sun strobe, infrared valuation point, simulate the sun angle, simulate the sun seeing the sun sign, digital sun angle, numeral too
Positive standard-sized sheet code, the digital sun are shown in sun strobe, star sensitive background mean value, background threshold, star Sensitive head temperature, extraction star number, identification
Star number etc., these information are gathered by other subsystems, can deliver to master control computer by LAN buses, remote measurement display computer with
Each equipment that master control computer communicates and forwards telemetry intelligence (TELINT) to bus, such as data statistics computer is analyzed, number
Stored according to storehouse server, remote measurement display computer shows etc..
As shown in figure 3, workflow is on simulator after electricity, execution system initialization.Simulator device state is carried out
Self-inspection, checks internal bus communication and outside LAN communication state.After the completion of self-inspection, self-inspection condition adjudgement is carried out.Self-inspection is successfully entered
Row next step simulator output zeroing, zeroing finish after, interpretation whether zero-bit.It is defined as zero-bit, after returning to zero successfully, unit test
Shi Shoudong sets simulator information or selection loading cycle tests, is given according to dynamics simulation computer during closed loop test
Angle sets simulator.Simulator is finished or after closed loop test terminates by cycle tests output angle, and simulator stops output, is surveyed
Examination terminates.
Can select to load cycle tests during unit test.A series of output angles of the cycle tests comprising simulator, often
One angle output correspondence certain hour.For example solar simulator output angle cycle tests for " -15 °, -5 °, -1.5 °, 0 °,
1.5°、5°、15°”.Each angle can set the time of output, and typical set is 1 minute.
Selected during closed loop test Dynamic Star simulator intelligent controller and earth simulator for earth intelligent controller respectively with power
Simulation computer real-time communication is learned, and the angle on target for being given according to dynamics simulation computer in real time, simulator is set and is given
Corresponding angle.
Be broadcast to the output configuration information of simulator in test network by simulator intelligent controller simultaneously, data statistics meter
Calculation machine chooses the satellite sensor telemetry intelligence (TELINT) of correspondence time period according to the output information of simulator, and line number of going forward side by side is located according to statistics
Reason.Data statistics computer is by obtaining the telemetry intelligence (TELINT) of satellite sensor with database server communication.
Dynamics simulation computer passes through software space environmental simulation and satellite dynamics control law.Be given by interface
Attitude signal, receives the signal that executing agency is transmitted, and is analyzed and calculates.The power and torque acted on satellite are calculated,
Carry out dynamics transfer to calculate, obtain the angular speed and attitude of satellite, reconvert into each sensor input information, by LAN
Bus is sent to corresponding simulator.
The particular technique that the present invention is not described, such as software processing of the internal structure of each computer or module and inside
Method, belongs to prior art well known by persons skilled in the art.
Claims (10)
1. a kind of orbit satellite attitude control system test, it is characterised in that including：
Simulator head, for exporting analog signal in testing, simulates the running environment of satellite to be measured；
Simulator intelligent controller, connects the simulator head, controls the operation of the simulator head and gathers the mould
Intend the working condition of device head；Simulator intelligent controller has two kinds of working methods：Dynamics simulation is received in closed loop test
The control instruction of computer is operated；The control instruction that simulator remote client is received in unit test is operated；
Simulator remote client, connects the simulator intelligent controller, simulator intelligent controller described in remote control
Run and show work state information, the fault status information of simulator of the simulator；
The simulator remote client is connected with the simulator intelligent controller by bus.
2. orbit satellite attitude control system test according to claim 1, it is characterised in that the simulator is intelligently controlled
Include Zero greeve controller in device processed, the Zero greeve controller is connected to the bus；The zero slot controller memory store expert knows
Know storehouse, compared with failure judgement for the work state information with the simulator head, Zero greeve controller judges in simulator
During for failure, by relay to simulator driving amplifier module power cut-off, the safety of product on protection simulator and star.
3. orbit satellite attitude control system test according to claim 2, it is characterised in that the simulator is intelligently controlled
Include simulator working condition acquisition module in device processed, the simulator working condition acquisition module gathers the simulator head
Work state information, and be connected with the Zero greeve controller.
4. orbit satellite attitude control system test according to claim 3, it is characterised in that the simulator is intelligently controlled
Include simulator driving amplifier module in device processed, the simulator driving amplifier module controls the driving of the simulator head,
It is connected with the Zero greeve controller and is controlled by the Zero greeve controller.
5. orbit satellite attitude control system test according to claim 1, it is characterised in that also include：Data statistics
Computer, the data statistics computer connects the bus, receives the configuration information of the simulator intelligent controller broadcast
With the telemetry of the sensor of the satellite to be measured, the statistical analysis of test data is carried out automatically.
6. orbit satellite attitude control system test according to claim 1, it is characterised in that also include：Dynamics is imitated
Genuine computer, the dynamics simulation computer connects the bus, for controlling the simulator intelligent controller；And it is described
Dynamics simulation computer connects the satellite to be measured.
7. orbit satellite attitude control system test according to claim 6, also includes, database server is connected to
The bus, reads and stores the output information of the dynamics simulation computer, working condition of the simulator head, quick
One or more in the fault status information of sensor telemetry and simulator.
8. a kind of satellite attitude orbit of orbit satellite attitude control system test as claimed in claim 1 controls method of testing,
It is characterized in that：Comprise the following steps：
Step S1, analog signal is exported by simulator head in testing；
Step S2, the simulator head is connected by simulator intelligent controller, is controlled the operation of the simulator head and is adopted
Collect the working condition of the simulator head；
Step S3, the simulator intelligent controller is connected by simulator remote client, simulator intelligence described in remote control
The operation of controller simultaneously shows the working condition of the simulator head.
9. satellite attitude orbit control system method of testing according to claim 8, it is characterised in that including,
Step S4, the work state information of the simulator head is gathered by simulator working condition acquisition module, and is sent to
Zero greeve controller in simulator intelligent controller；The simulator head is carried out by the expert knowledge library of zero slot controller memory store
The work state information in portion compares to judge whether failure.
10. satellite attitude orbit control system method of testing according to claim 8, it is characterised in that including step S5, number
Computer connects the bus according to statistics, receives the configuration information and the satellite to be measured of the simulator intelligent controller broadcast
Sensor telemetry, the statistical analysis of test data is carried out automatically.
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| CN105512372B (en) * | 2015-11-30 | 2019-01-11 | 上海航天计算机技术研究所 | The data processing onboard emulation test method of modelling |
| CN105539883B (en) * | 2016-02-05 | 2017-12-29 | 上海微小卫星工程中心 | Autonomous mutual method of calibration on a kind of multi-sensor star based on vector matching |
| CN106227935B (en) * | 2016-07-20 | 2019-08-13 | 浙江大学 | A kind of system and implementation method of satellite gravity anomaly integrative simulation |
| CN106503317B (en) * | 2016-10-12 | 2022-08-05 | 深圳航天东方红卫星有限公司 | Energy supply test system based on V-I curve simulation technology |
| CN106542117B (en) * | 2016-10-17 | 2019-01-25 | 中国运载火箭技术研究院 | A kind of micro- integrated aircraft untetheredization electrical system |
| CN107831503B (en) * | 2017-09-21 | 2020-07-10 | 上海卫星工程研究所 | Satellite orbit analysis comparison system and method based on real-time telemetering data |
| CN109917669A (en) * | 2019-02-20 | 2019-06-21 | 上海卫星工程研究所 | Device and method are verified in the satellite GNC system integration based on dSPACE real-time simulation machine |
| CN109856995B (en) * | 2019-03-04 | 2021-12-07 | 北京空间飞行器总体设计部 | Whole-satellite control subsystem simulation platform for test method verification and evaluation |
| 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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