CN104730983A - High-precision time program control method - Google Patents
High-precision time program control method Download PDFInfo
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- CN104730983A CN104730983A CN201510106680.XA CN201510106680A CN104730983A CN 104730983 A CN104730983 A CN 104730983A CN 201510106680 A CN201510106680 A CN 201510106680A CN 104730983 A CN104730983 A CN 104730983A
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25367—Control of periodic, synchronous and asynchronous, event driven tasks together
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Abstract
The invention provides a high-precision time program control method. According to the method, by adjusting a dispatching cycle dynamically, the dispatching cycle of a satellite service center computer can be synchronized with the time on a satellite, so that the program control instruction execution time accuracy is improved, and meanwhile adjustment bytes are introduced into a telemetering frame generated by the satellite service center computer, so that the problem that the generation of telemeasuring data is out of sync with the sending of the telemeasuring data caused by dynamic adjustment of the dispatching cycle is avoided. Furthermore, compared with the method of improving the program control instruction execution time accuracy by introducing GPS pulse per second, the reliability is high, and no additional hardware GPS pulse per second ports are needed.
Description
Technical field
The present invention relates to a kind of split-second precision programmed control method, for carrying out high precision delays time to control and management to satellite.
Background technology
Programmable function be carry out the approach of delays time to control and management in the face of satellite.It to utilize the instruction with execution time code when satellite passes by by the formal note of the data block program control buffer zone to On board computer (below for Star Service central computer), time (on usual star time and precise synchronization) and program control command time on the current star of the program control task versus of Star Service central computer, if instruction time to; send this instruction.Can the workload that controls be carried out in the face of satellite with reducing by program control, and be control the important means that satellite platform equipment and useful load work overseas.
At present, Star Service central computer activates program control according to T dispatching cycle (current T is set to 1 second usually) of oneself, remote measurement, the tasks such as remote control, due to the impact by the accuracy of Star Service central computer crystal oscillator, T not 1 second accurately, even if the time on the star of reading at the very start of each dispatching cycle, and the millisecond value of time can drift about (supposing that on star, temporal resolution is 1ms here) on the star of this point at 0-999ms, therefore the execution error of program control command is maximum close to 1 second, the timing code of such as certain program control command is 6 seconds, Star Service main frame time on a upper entrance reading dispatching cycle star is 5.6 seconds, because on star, the time does not arrive, this program control command is not performed in this dispatching cycle, it is 6.6 seconds when porch reading star next dispatching cycle, this program control command time arrives, perform this program control command, it is 0.6 second that program control command performs error.
Along with the development of mission requirements, more and more higher to the execution accuracy requirement of programmable function, improving program control command execution precision at present has two kinds of modes usually, and one is that Star Service central computer is foreshortened to T/n dispatching cycle, and another kind of mode introduces GPS pulse per second (PPS).The essence of first kind of way improves the frequency of time on inquiry star, raising program control command that can be limited performs precision, precision can be increased to T/n, such as n=4, to foreshorten to 250ms dispatching cycle, program control error is 250ms to the maximum, along with the increase of n, dispatching efficiency can reduce, and other task design can become complicated.Second way Star Service central computer needs extra introducing hardware GPS pulse per second (PPS) interface, uses pulse per second (PPS) as the excitation of Star Service central computer task scheduling, and needs to carry out reliability design to the continuity of GPS pulse per second (PPS).
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of split-second precision programmed control method, the method is by dynamic conditioning dispatching cycle, can by time synchronized on the dispatching cycle of Star Service central computer and star, thus improve program control command execution time precision, the telemetry frame that the present invention simultaneously also produces Star Service central computer introduces adjustment byte, avoids being produced by the telemetry that dispatching cycle, dynamic conditioning brought sending asynchronous problem with telemetry.
Technical solution of the present invention is: a kind of split-second precision programmed control method, by dynamic development adjustment dispatching cycle, makes time synchronized on Star Service central computer dispatching cycle and star, and improve program control command execution time precision, concrete steps are as follows:
(1) T dispatching cycle is divided into N part, every part of time span is t, and namely T=N × t, N are positive integer;
(2) arrange timer interruption or multiplexing existing interruption, described interrupt cycle is t, and arranges interrupt counter n, and the initial value of n is 0, and arranging the initial value interrupting counting back to zero mark M, M is N;
(3) after entering timer interrupt service, if n=0, then enter step (4), if n ≠ 0, then enter step (6);
(4) activate scheduler task, wherein, in described scheduler task, the priority of program control task is the highest; Then step (5) is entered;
(5) time millisecond value t on star is read
msSat; If t
msSat<e, then M=N+1; If t
msSat> (t+e), then M=N-1; If e≤t
msSat≤ (t+e), then M=N; Wherein e is the critical error of setting, then enters step (6);
(6) carry out interruption counting, i.e. n=n+1, then enters step (7);
(7) interruption count value n is judged and enters step (8), wherein, if n >=M, then to interruption counter O reset, i.e. n=0;
(8) timer interrupt service program is exited;
(9) step (3) ~ (8) are repeated according to t interrupt cycle.
Above-mentioned split-second precision programmed control method, in step (5), the effective word joint number of setting telemetry frame is Q-Q/N, and count according to interrupting the adjustment result that back to zero marks M, setting telemetry frame adjustment byte number is 0, Q/N or 2 × Q/N, and wherein, Q is the downlink telemetry bit rate of setting; Concrete adjustment result is as follows:
If M=N+1, then arranging adjustment byte number is 2 × Q/N, and namely in telemetry frame process of transmitting, the byte number of transmission is Q-Q/N+2 × Q/N=Q+Q/N;
If M=N-1, then arranging adjustment byte number is 0, and namely in telemetry frame process of transmitting, the byte of transmission is Q-Q/N;
If M=N, then arranging adjustment byte number is Q/N, and namely in telemetry frame process of transmitting, the byte of transmission is Q-Q/N+Q/N=Q.
Above-mentioned split-second precision programmed control method, in step (1), according to programmed times precision index demand, adjustment positive integer N.
Above-mentioned split-second precision programmed control method, in step (4), in described scheduler task, the priority of program control task is the highest.
The present invention compared with prior art beneficial effect is:
(1) the present invention is by dynamic conditioning dispatching cycle, by time synchronized on the dispatching cycle of Star Service central computer and star, can compare the method for Star Service central computer shortening dispatching cycle, can increase substantially program control command execution time precision;
(2) the present invention compares and introduces the method that GPS pulse per second (PPS) improves program control command execution time precision, and reliability is high, and does not need extra hardware GPS pulse per second (PPS) interface;
(3) if telemetry frame is produced by Star Service central computer, the present invention introduces adjustment byte to the telemetry frame that Star Service central computer produces, and avoids being produced by the telemetry that dispatching cycle, dynamic conditioning brought sending asynchronous problem with telemetry.
Accompanying drawing explanation
Fig. 1 is the typical operating environment of split-second precision programmed control method of the present invention application;
Fig. 2 is the processing flow chart of split-second precision programmed control method of the present invention.
Fig. 3 is the schematic diagram that telemetry frame of the present invention introduces adjustment byte.
Embodiment
Typical operating environment of the present invention as shown in Figure 1.In FIG, Star Service central computer and other units are articulated in bus, are communicated by bus.Accordingly, the UTC time synchronized that time on star and GPS are produced by bus by Star Service central computer, time and program control command time on the current star of the program control task versus of Star Service central computer, if instruction time to; send this instruction.
As shown in Figure 2, the invention provides a kind of split-second precision programmed control method, by dynamic conditioning dispatching cycle, can by time synchronized on the dispatching cycle of Star Service central computer and star, improve program control command execution time precision, its step is as follows:
(1) T dispatching cycle is divided into N part, every part of time span is t, i.e. T=N × t; Wherein, positive integer N is according to the setting of programmed times precision index, and after setting positive integer N, program control command execution error is about t; In the present embodiment, N=256, then t ≈ 4ms is set;
(2) arrange timer interruption or multiplexing existing interruption, described interrupt cycle is t, and arranges interrupt counter n, and the initial value of n is 0, and arranging the initial value interrupting counting back to zero mark M, M is N;
(3) after entering timer interrupt service, if n=0, then enter step (4), if n ≠ 0, then enter step (6);
(4) activate scheduler task, wherein, in described scheduler task, the priority of program control task is the highest; Then step (5) is entered;
(5) time millisecond value t on star is read
msSat; If t
msSat<e, then M=N+1; If t
msSat> (t+e), then M=N-1; If e≤t
msSat≤ (t+e), then M=N; Wherein e is the critical error of setting, then enters step (6);
(6) carry out interruption counting, i.e. n=n+1, then enters step (7);
(7) interruption count value n is judged and enters step (8), wherein, if n >=M, then to interruption counter O reset, i.e. n=0;
(8) timer interrupt service program is exited;
(9) step (3) ~ (8) are repeated according to t interrupt cycle.
If telemetry frame is modulated by Star Service central computer and is sent, then the present invention can according to the adjustment result of step (5) to M, in the telemetry frame that Star Service central computer produces, introduce adjustment byte, avoid being produced by the telemetry that dispatching cycle, dynamic conditioning brought sending asynchronous problem with telemetry.Concrete methods of realizing is as follows:
If downlink telemetry bit rate is Q byte/s, i.e. descending Q byte per second, then arranging telemetry frame effective byte is Q-Q/N, according to the adjustment result of M setting adjustment byte be 0, Q/N or 2 × Q/N.Such as: if descending bit rate is 4Kbps and N=256, then Q=512 byte and effective word joint number is 510, adjustment byte number is 0 ~ 4; Wherein:
If M equals N-1, then only send Q-Q/N effective byte, i.e. 510 bytes;
If M equals N, then send Q-Q/N effective byte and add Q/N adjustment byte, be i.e. 510 byte+2 byte adjustment bytes; Such as 0xAAAA;
If M equals N+1, then send Q-Q/N effective byte and add 2 × Q/N adjustment byte, be i.e. 510 adjustment of byte+4 byte byte, such as 0xAAAAAAAA.
The above; be only the present invention's embodiment, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.
The content be not described in detail in instructions of the present invention belongs to the known technology of professional and technical personnel in the field.
Claims (4)
1. a split-second precision programmed control method, is characterized in that comprising the steps:
(1) T dispatching cycle is divided into N part, every part of time span is t, and namely T=N × t, N are positive integer;
(2) arrange timer interruption or multiplexing existing interruption, described interrupt cycle is t, and arranges interrupt counter n, and the initial value of n is 0, and arranging the initial value interrupting counting back to zero mark M, M is N;
(3) after entering timer interrupt service, if n=0, then enter step (4), if n ≠ 0, then enter step (6);
(4) activate scheduler task, then enter step (5);
(5) time millisecond value t on star is read
msSat; If t
msSat<e, then M=N+1; If t
msSat> (t+e), then M=N-1; If e≤t
msSat≤ (t+e), then M=N; Wherein e is the critical error of setting, then enters step (6);
(6) carry out interruption counting, i.e. n=n+1, then enters step (7);
(7) interruption count value n is judged and enters step (8), wherein, if n >=M, then to interruption counter O reset, i.e. n=0;
(8) timer interrupt service program is exited;
(9) step (3) ~ (8) are repeated according to t interrupt cycle.
2. a kind of split-second precision programmed control method according to claim 1, it is characterized in that: in step (5), the effective word joint number of setting telemetry frame is Q-Q/N, and count according to interrupting the adjustment result that back to zero marks M, setting telemetry frame adjustment byte number is 0, Q/N or 2 × Q/N, wherein, Q is the downlink telemetry bit rate of setting; Concrete adjustment result is as follows:
If M=N+1, then arranging adjustment byte number is 2 × Q/N, and namely in telemetry frame process of transmitting, the byte number of transmission is Q-Q/N+2 × Q/N=Q+Q/N;
If M=N-1, then arranging adjustment byte number is 0, and namely in telemetry frame process of transmitting, the byte of transmission is Q-Q/N;
If M=N, then arranging adjustment byte number is Q/N, and namely in telemetry frame process of transmitting, the byte of transmission is Q-Q/N+Q/N=Q.
3. a kind of split-second precision programmed control method according to claim 1, is characterized in that: in step (1), according to programmed times precision index demand adjustment positive integer N.
4. a kind of split-second precision programmed control method according to claim 1, is characterized in that: in step (4), in described scheduler task, the priority of program control task is the highest.
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| CN201510106680.XA CN104730983B (en) | 2015-03-11 | 2015-03-11 | A kind of split-second precision programmed control method |
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| CN201510106680.XA CN104730983B (en) | 2015-03-11 | 2015-03-11 | A kind of split-second precision programmed control method |
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Cited By (6)
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| CN107562443A (en) * | 2017-07-17 | 2018-01-09 | 上海卫星工程研究所 | Satellite program control command maintaining method based on round-robin queue |
| CN107679260A (en) * | 2017-08-09 | 2018-02-09 | 北京空间飞行器总体设计部 | Precision of being united when on a kind of stationary orbit remote sensing satellite star determines method |
| CN109884670A (en) * | 2019-01-11 | 2019-06-14 | 四川九洲空管科技有限责任公司 | A kind of portable ADS-B split-second precision cooperative processing method |
| CN112147924A (en) * | 2020-08-27 | 2020-12-29 | 航天东方红卫星有限公司 | High-precision program-controlled task management system |
| CN112416540A (en) * | 2019-08-23 | 2021-02-26 | 比亚迪半导体股份有限公司 | Timing control method and device and vehicle |
| CN113009248A (en) * | 2021-02-08 | 2021-06-22 | 天津云遥宇航科技有限公司 | Test method, test equipment and test system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107562443A (en) * | 2017-07-17 | 2018-01-09 | 上海卫星工程研究所 | Satellite program control command maintaining method based on round-robin queue |
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| CN107679260A (en) * | 2017-08-09 | 2018-02-09 | 北京空间飞行器总体设计部 | Precision of being united when on a kind of stationary orbit remote sensing satellite star determines method |
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| CN109884670A (en) * | 2019-01-11 | 2019-06-14 | 四川九洲空管科技有限责任公司 | A kind of portable ADS-B split-second precision cooperative processing method |
| CN109884670B (en) * | 2019-01-11 | 2021-03-26 | 四川九洲空管科技有限责任公司 | Portable ADS-B high-precision time cooperative processing method |
| CN112416540A (en) * | 2019-08-23 | 2021-02-26 | 比亚迪半导体股份有限公司 | Timing control method and device and vehicle |
| CN112416540B (en) * | 2019-08-23 | 2024-04-12 | 比亚迪半导体股份有限公司 | Timing control method and device and vehicle |
| CN112147924A (en) * | 2020-08-27 | 2020-12-29 | 航天东方红卫星有限公司 | High-precision program-controlled task management system |
| CN113009248A (en) * | 2021-02-08 | 2021-06-22 | 天津云遥宇航科技有限公司 | Test method, test equipment and test system |
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