CN105300406B - A kind of Gyro fault diagnosis method based on equilibrium equation equivalence - Google Patents
A kind of Gyro fault diagnosis method based on equilibrium equation equivalence Download PDFInfo
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Abstract
A kind of Gyro fault diagnosis method based on equilibrium equation equivalence of the present invention, it discloses a kind of suitable for spacecraft Gyro fault diagnosis method, 5 gyros with redundant measurement are formed into 5 gyro groups by a combination of four gyros first, and in each gyro group one group of equilibrium equation are arbitrarily selected to calculate its equilibrium equation coefficient and equilibrium equation error；Then, for every group of gyro according to its equilibrium equation coefficient be calculated with configuration associated arguments, and using the parameter with setting fault threshold product as breakdown judge according to value；Finally, the equilibrium equation error of every group of gyro positions failure gyro according to all gyro group comparative results compared with it calculates breakdown judge according to value.The present invention is based on the equivalence conclusions between gyro group equilibrium equation, to realize gyro failure Accurate Diagnosis effect on the basis of algorithm minimum of computation amount, while give specific selection principle to breakdown judge threshold value, have very strong engineering operable and realizability.
Description
Technical Field
The invention relates to the field of spacecraft attitude control, in particular to a gyroscope fault diagnosis method based on equilibrium equation equivalence, which is used for fault diagnosis of a gyroscope configured on a spacecraft.
Background
In a satellite control system, measurement of an attitude measurement sensor gyroscope is a key component for obtaining the angular velocity of a star body to realize effective control of the attitude of the star body, and is a key factor for influencing the stable operation of a spacecraft and restricting the on-orbit service life of the spacecraft. Although the spacecraft system can realize the measurement of the angular velocity of the three axes of the star body only by configuring 3 gyros with non-coplanar measuring axes, in order to ensure the long service life and high-reliability and stable operation of the spacecraft, the control system is generally configured with more than three redundant gyros.
The spacecraft gyroscope fault diagnosis is generally used for judging gyroscope faults based on errors of balance equations formed by measurement of four gyroscopes in redundant gyroscopes, namely, projections of star angular velocities obtained by calculation of 3 gyroscope measurement values in the directions of other gyroscope measurement axes and measured deviations of the star angular velocities are used as fault judgment bases. In order to locate the fault gyro, the number of gyros participating in fault diagnosis of the balance equation gyro cannot be less than 5. Any four gyro combinations in the 5 gyros are not marked as { i, j, k, l }, and the output delta g can be measured according to the combinations i 、Δg j 、Δg k 、Δg l And its installation unit vector VG i 、VG j 、VG k 、VG l Four different forms of equilibrium equations are established as follows:
ε ijkl ＝|k ijkl,i Δg i +ki jkl,j Δg j +k ijkl,k Δg k -Δg l | (1a)
ε ijlk ＝|k ijlk,i Δg i +k ijlk,j Δg j +k ijlk,l Δg l -Δg k | (1b)
ε ilkj ＝|k ilkj,i Δg i +k ilkj,l Δg l +k ilkj,k Δg k -Δg j | (1c)
ε jkli ＝|k jkl,l Δg l +k jkli,j Δg j +k jkli,k Δg k -Δg i | (1d)
wherein epsilon ijkl 、ε ijlk 、ε ilkj 、ε jkli To account for the error of the equilibrium equation, the 3 coefficients in the four equilibrium equation are sequentially the first 3 elements of the corresponding four vectors as follows, i.e.
At present, a gyro fault method based on a balance equation generally judges 5 balance errors obtained by 5 gyros according to a specific gyro sequence and a fixed fault judgment threshold value selected in advance. But because of the epsilon resulting from any combination of i, j, k, l in them under the same gyro measurements ijkl 、ε ijlk 、ε ilkj 、ε jkli The error values may be different, and therefore, even if the same combination may have different judgment results due to different selection of the balance equation, the judgment of the gyro fault may be inaccurate, and the preset fixed threshold may not be completely adaptive to other different gyro combinations. In order to solve the problem of the method, another commonly adopted method is to use all balance equation errors of the gyroscope for gyroscope fault judgment, and design a fault judgment threshold value for each balance equation. As 5 gyros have 4 gyro groups and each gyro group has 4 balance equations, the error values of 20 balance equations are calculated and 20 fault judgment threshold values are designed. Although the method can improve the accuracy of gyro fault diagnosis, the method is obtained at the expense of gyro fault diagnosis calculation amount and system design amount.
The invention provides a gyro fault diagnosis method based on balance equation equivalence, which is based on a theoretical analysis result and obtained for four balance equation equivalence conclusions of formulas (1 a) - (1 d) under the same gyro combination, namely for any gyro combination, the ratio of coefficients of gyro measurement values in any balance equation of the gyro combination to the ratio of coefficients arranged in the same gyro sequence in other balance equations of the combination has a fixed proportional relation.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the gyro fault diagnosis method based on the equivalence of the balance equations is provided, the balance equations consisting of five gyros are used for accurately diagnosing the gyro faults, and the problems that misdiagnosis or missed diagnosis is caused by inaccurate judgment of the balance equations in the judgment method in the prior art or the problems that the calculated amount is too large and the design amount is too complex in other existing gyro fault diagnosis methods are solved.
The technical scheme of the invention is as follows:
a gyro fault diagnosis method based on equivalence of balance equations comprises,
s1, numbering five gyros as i, j, k, l and m respectively, and dividing the gyros into five groups in a mode that four gyros form a group: fault detection of a balance equation is respectively carried out by { i, j, k, l }, { i, j, k, m }, { i, j, l, m }, { i, k, l, m }, and { j, k, l, m };
s2, for the gyro set { i, j, k, l }, measuring the unit vector VG of the installation of the axes on the star body by the gyros i, j, k, l i 、VG j 、VG k 、VG l Corresponding to the gyro to measure output delta g i 、Δg j 、Δg k 、Δg l Calculating the coefficient vector k of the balance equation ijkl And the error of the equilibrium equation ε ijkl ：
Calculating k according to the set of gyroscopes (i, j, k, l) ijkl And epsilon ijkl In the process of (1), the balance equation coefficient vector k is respectively obtained for other four gyro groups { i, j, k, m }, { i, j, l, m }, { i, k, l, m }, { j, k, l, m }, and { j, k, l, m }, respectively ijkm 、k ijlm 、k iklm 、k jklm And its equilibrium equation error epsilon ijkm 、ε ijlm 、ε iklm 、ε jklm 。
S3, for the gyro group { i, j, k, l }, according to the vector k ijkl Is the sum variable k of the absolute values of the elements ijkl_sum And a set gyro bonus judgment threshold value delta gelim1 And a division determination threshold value delta gelim2 And (3) performing addition and subtraction processing on each gyro in the gyro combination with the same score:
if epsilon ijkl Less than k ijkl_sum ×δ gelim1 In the time, scoring of the gyros i, j, k and l is subjected to scoring processing;
if epsilon ijkl Greater than k ijkl_sum ×δ gelim2 And (4) carrying out division processing on scores of the gyros i, j, k and l. According to the same processing process of the gyro sets { i, j, k and l }, the sum k of absolute values of coefficient vector elements of each balance equation is respectively solved for other four gyro sets { i, j, k and m }, { i, j, l and m }, { i, k, l and m }, and { j, k, l and m }, and ijkm_sum 、k ijlm_sum 、k iklm_sum 、k jklm_sum in combination with setting the threshold delta gelim1 、δ gelim2 And sequentially carrying out addition and subtraction processing on the gyros in each gyro group.
S4, judging a fault gyro: and after the processing of S2 and S3 is completed and the situation that the score of the gyro is reduced to the maximum degree occurs, judging that the gyro has the fault according to the maximum reduction degree in the scores of the gyros i, j, k, l and m.
Further, the method includes setting a threshold δ according to a configuration determined by the gyro mounting unit vector gelim1 、δ gelim2 And satisfy delta gelim2 >δ gelim1 ；
In order to avoid fault diagnosis in normal gyro measurement, a threshold value delta is selected gelim1 Greater than the normal measurement error index range b given by the gyroscope norm ；
In order to avoid misdiagnosis caused by the fact that scores of a plurality of gyros are reduced equally when one gyro is in fault, delta is selected gelim2 Generally satisfies δ gelim2 >2δ gelim1 。
Compared with the prior art, the invention has the advantages that:
(1) The method is provided based on the equivalence principle of the balance equation, the possible situation that fault gyro diagnosis results are different due to different balance equation selections in diagnosis in the prior art is avoided, and the accuracy of the diagnosis results and the consistency of the diagnosis results are improved on the basis of keeping the minimum calculation amount of a diagnosis algorithm.
(2) The invention provides a definite fault diagnosis threshold value selection principle, can effectively avoid the misdiagnosis condition caused by unreasonable diagnosis threshold value selection in the prior art, and greatly simplifies the complexity of system parameter design.
Drawings
FIG. 1 is a flowchart of gyro fault diagnosis based on equivalence of balance equations according to the present invention;
Detailed Description
As shown in FIG. 1, the gyro fault diagnosis method based on the equivalence of the balance equation of the invention comprises the following steps:
(1) Five gyros i, j, k, l and m are utilized to form five groups: the method comprises the following steps of { i, j, k, l }, { i, j, k, m }, { i, j, l, m }, { i, k, l, m }, { j, k, l, m } balance equation for fault detection.
(2) Measuring unit vector VG of installation axes of gyroscopes i, j, k, l and k on star body i 、VG j 、VG k 、VG l 、VG k Calculating the coefficient vector k of the balance equation ijkl 、k ijkm 、k ijlm 、k iklm 、k jklm ：
Wherein
Combining the above calculated balance equation coefficient vectors, the gyroscope correspondingly measures and outputs delta g i 、Δg j 、Δg k 、Δg l 、Δg m Calculating the error epsilon of the balance equation ijkl 、ε ijkm 、ε ijlm 、ε iklm 、ε jklm ：
ε ijkl ＝k ijkl ×[Δg i Δg j Δg k Δg l ] T
ε ijkm ＝k ijkm ×[Δg i Δg j Δg k Δg m ] T
ε ijlm ＝k ijlm ×[Δg i Δg j Δg l Δg m ] T
ε iklm ＝k iklm ×[Δg i Δg l Δg l Δg m ] T
ε jklm ＝k jklm ×[Δg j Δg k Δg l Δg m ] T
The right superscript "-1" of each variable represents the matrix inversion operation, and the right superscript "T" represents the transpose operation of the vector (matrix).
(3) Respectively taking absolute values of the coefficients of the five gyro equilibrium equations and summing the absolute values to obtain a variable k ijkl_sum 、k ijkm_sum 、k ijlm_sum 、k iklm_sum 、k jklm_sum I.e. by
k ijkl_sum ＝|k ijkl,i |+|k ijkl,j |+|k ijkl,k |+|k ijkl,l |
k ijkm_sum ＝|k ijkm,i |+|k ijkm,j |+|k ijkm,k |+|k ijkm,m |
k ijlm_sum ＝|k ijlm,i |+|k ijlm,j |+|k ijlm,l |+|k ijlm,m |
k iklm_sum ＝|k iklm,i |+|k iklm,k |+|k iklm,l |+|k iklm,m |
k jklm_sum ＝|k jklm,i |+|k jklm,k |+|k jklm,l |+|k jklm,m |
And calculating the k ijkl_sum 、k ijkm_sum 、k ijlm_sum 、k iklm_sum 、k jklm_sum Adding and dividing judgment threshold delta with gyroscope gelim1 And a division judgment threshold value delta gelim2 Taking the multiplication result as the basis of adding and subtracting the scores of all the groups of gyros, taking the gyro group { i, j, k, l } as an example:
if epsilon ijkl Less than k ijkl_sum ×δ gelim1 Then, for the gyros i, j,k. 1 is added to the score of l;
if epsilon ijkl Greater than k ijkl_sum ×δ gelim2 When the scores of the gyros i, j, k and l are all reduced by 1 point.
The same addition and subtraction processing is carried out on the other four gyroscope groups { i, j, k, m }, { i, j, l, m }, { i, k, l, m }, { j, k, l, m }, respectively.
(4) And (3) judging a fault gyro: and after the addition and subtraction processing of each gyro group is finished, when the situation that the scores of the gyros are subtracted occurs, reducing the total scores of the gyros i, j, k, l and m to the maximum score, and judging the gyro to be a fault gyro.
In the above steps, the selection of the threshold value needs to satisfy the following conditions:
selecting a threshold value delta gelim2 >δ gelim1 ；
Selecting a threshold value delta gelim1 Greater than the range b of the normal measurement error index of the gyroscope norm ；
Threshold delta gelim2 Needs to be selected according to the configuration of the gyro combination, and can generally adopt delta gelim2 >2δ gelim1 。
Example 1: and the five gyros i, j, k, l and m work, and gyro fault diagnosis is carried out based on an equivalent balance equation.
(1) The fault detection is carried out by utilizing five gyros i, j, k, l and m to form five groups of balance equations (i, j, k and l), (i, j, k and m), (i, j, l and m), (i, k, l and m) and (j, k, l and m).
The installation unit vector of 5 gyros in the embodiment is as follows:
VG i ＝[-0.52483389，-0.62547267，0.57735027] T ；
VG j ＝[0.80409216，-0.14178314，0.57735027] T ；
VG k ＝[-0.27925828，0.76725581，0.57735027] T ；
VG l ＝[0.70710678，0.40824829，0.57735027] T ；
VG m ＝[-0.70710678，0.40824829，0.57735027] T ；
setting gyroscope i as a fault, and measuring output of each gyroscope as follows:
Δg i ＝-0.008384377516774；
Δg j ＝0.014048585562026；
Δg k ＝-0.004859446568903；
Δg l ＝0.012355871354728；
Δg m ＝-0.012326811593622；
according to the normal measurement error index b of the gyroscope norm Less than 0.00002, and selecting the bonus threshold delta in a threshold selection mode gelim1 And a division threshold δ gelim2 Are respectively as
δ gelim1 ＝0.00002，δ gelim2 ＝0.00004；
(2) Take gyro set { i, j, k, l } as an example, calculate ε ijkl The algorithm of (1) is as follows:
k ijkl_sum ＝2.5862568255；
ε ijkl ＝k ijkl ×[Δg i Δg j Δg k Δg l ] T ＝2.23121e-004；
k ijkl_sum ×δ gelim2 ＝0.00008776；
due to epsilon ijkl Greater than k ijkl_sum ×δ gelim2 The scores of the gyros i, j, k and l are respectively reduced by 1.
Processing similar to the gyroscope groups { i, j, k, m }, { i, j, l, m }, { i, k, l, m }, { j, k, l, m }, and the like is performed on the gyroscope groups { i, j, k, l, m }, and the obtained scoring conditions of the gyroscope groups are shown in table 1.
(3) And accumulating the scores of each gyro in different gyro groups, and judging that the score-4 of gyro i is the lowest according to the result, so that the gyro i is judged to be a fault.
TABLE 1 Gyro scoring Condition judged by the equilibrium equations of the various groups
| Gyro set | GC i | GC j | GC k | GC l | GC m |
| {i、j、k、l} | -1 | -1 | -1 | -1 | 0 |
| {i、j、k、m} | -1 | -1 | -1 | 0 | -1 |
| {i、j、l、m} | -1 | -1 | 0 | -1 | -1 |
| {i、k、l、m} | -1 | 0 | -1 | -1 | -1 |
| {j、k、l、m} | 0 | +1 | +1 | +1 | +1 |
| Score accumulation | -4 | -2 | -2 | -2 | -2 |
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (4)
1. A gyro fault diagnosis method based on balance equation equivalence is characterized by comprising the following steps:
s1, numbering five gyros as i, j, k, l and m respectively, and dividing the gyros into five groups in a mode that four gyros form a group: fault detection of a balance equation is respectively carried out by { i, j, k, l }, { i, j, k, m }, { i, j, l, m }, { i, k, l, m }, and { j, k, l, m };
s2, for the gyro set { i, j, k, l }, measuring the unit vector VG of the installation of the axes on the star body by the gyros i, j, k, l i 、VG j 、VG k 、VG l Corresponding to its gyro to measure output delta g i 、Δg j 、Δg k 、Δg l Calculating the coefficient vector k of the balance equation ijkl And the error of the equilibrium equation ε ijkl ：
Calculating k according to the set of gyros { i, j, k, l } mentioned above ijkl And ε ijkl In the process of (1), the balance equation coefficient vector k is respectively obtained for other four gyro groups { i, j, k, m }, { i, j, l, m }, { i, k, l, m }, { j, k, l, m }, and { j, k, l, m }, respectively ijkm 、k ijlm 、k iklm 、k jklm And its equilibrium equation error epsilon ijkm 、ε ijlm 、ε iklm 、ε jklm ；
S3, for the gyro group { i, j, k, l }, according to the vector k ijkl Is a sum variable k of absolute values of the respective elements ijkl_sum And a set gyro bonus judgment threshold value delta gelim1 And a division determination threshold value delta gelim2 All the gyros in the gyro combination are subjected to the same operationAnd (3) adding and subtracting scores:
if epsilon ijkl Less than k ijkl_sum ×δ gelim1 In the time, scoring of the gyros i, j, k and l is subjected to scoring processing;
if epsilon ijkl Greater than k ijkl_sum ×δ gelim2 When the scores of the gyros i, j, k and l are all subjected to division processing;
according to the same processing process of the gyro sets { i, j, k and l }, the sum k of absolute values of coefficient vector elements of each balance equation is respectively solved for other four gyro sets { i, j, k and m }, { i, j, l and m }, { i, k, l and m }, and { j, k, l and m }, and ijkm_sum 、k ijlm_sum 、k iklm_sum 、k jklm_sum in combination with setting the threshold delta gelim1 、δ gelim2 Sequentially adding and subtracting gyros in each gyro group;
s4, judging a fault gyro:
and after the processing of S2 and S3 is completed and the situation that the score of the gyro is reduced to the maximum degree occurs, judging that the gyro has the fault according to the maximum reduction degree in the scores of the gyros i, j, k, l and m.
2. The method of claim 1, further comprising: setting a threshold value delta according to a configuration determined by a gyro mounting unit vector gelim1 、δ gelim2 And satisfy delta gelim2 >δ gelim1 。
3. The method of claim 2, wherein the threshold δ is selected gelim1 Greater than the normal measurement error index range b given by the gyro norm 。
4. The method of claim 2, further comprising:
selection of delta gelim2 Satisfies delta gelim2 >2δ gelim1 。
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