CN106292336B - The fault simulation system and method for Satellite attitude and orbit control system based on embedded VxWorks - Google Patents
The fault simulation system and method for Satellite attitude and orbit control system based on embedded VxWorks Download PDFInfo
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Abstract
The present invention relates to the fault simulation systems and method of a kind of Satellite attitude and orbit control system based on embedded VxWorks, the model and fault mode of single machine are realized using host-target machine technology, include: fault simulation host, run Matlab modeling software, fault model foundation is carried out based on Simulink, and generates the destination application under VxWorks real time operating system；Fault simulation target machine runs VxWorks real time operating system and destination application carries out fault simulation with the fault simulation host by network connection；Direct fault location and instruction control machine, connect with single machine on the fault simulation target machine and star respectively, and the fault mode for sending single machine instructs, and realize the switching on the single machine model serial ports and star of fault simulation target machine between the true single machine serial ports of single machine.The present invention can carry out fault diagnosis and system reconfiguration is tested, and improve Satellite attitude and orbit control system standalone hardware and posture trackwork in the fault-tolerant ability of fault mode, guarantee the safety of satellite.
Description
Technical field
The present invention relates to a kind of failure simulation methods of Satellite attitude and orbit control system, in particular to one kind based on embedded
The failure simulation method of the Satellite attitude and orbit control system of VxWorks, belongs to satellite simulation technical field.
Background technique
Core of the Satellite attitude and orbit control system as satellite, performance will will have a direct impact on entire satellite task success；
Therefore once breaking down, serious influence often is come on whole star braid.Attitude and orbit control system failure can propagate in the controls,
It is accumulative, telemetering diagnosis there are time delay and information it is incomplete, autonomous diagnosis limit by spaceborne computer again, therefore is only divided by theoretical
Analysis be it is inadequate, need verification experimental verification to explore fault diagnosis and reconfiguration technique with the theory mode that combines.In l-G simulation test
In to carry out verification experimental verification, first be exactly failure is simulated, establish fault model.
The failure simulation method of existing Satellite attitude and orbit control system has certain limitation, specifically includes:
Although 1, there is authenticity using the physical simulation system of true single machine completely, it is difficult to each of analog control system
Kind fault mode, is suitable only for the normal mode of analog control system.Carry out the fault simulation of control unit, it is necessary to carry out people
For destruction, and the fault mode that can be simulated is extremely limited, since control unit price is usually all very expensive on satellite,
Obviously the cost paid thus is too big, and cost is too high.
2, the controllability of simulation process is not high, cannot switch in real time between true single machine and model.
3, the analogue system simulation fidelity for carrying out fault simulation using model completely is poor, and requirement of real-time is not high, cannot
The hardware runs of reflection practical sensor and executing agency completely.
Summary of the invention
The purpose of the present invention is to provide a kind of fault simulation systems of Satellite attitude and orbit control system based on embedded VxWorks
System and method, can carry out fault diagnosis and system reconfiguration is tested, and improve Satellite attitude and orbit control system standalone hardware and posture track work
Make the fault-tolerant ability in fault mode, guarantees the safety of satellite.
In order to achieve the above object, the present invention provides a kind of event of Satellite attitude and orbit control system based on embedded VxWorks
Hinder simulation system, the model and fault mode of single machine are realized using host-target machine technology, includes: fault simulation host,
Matlab modeling software is run, fault model foundation is carried out based on Simulink, and generate under VxWorks real time operating system
Destination application；Fault simulation target machine runs VxWorks with the fault simulation host by network connection
Real time operating system and destination application carry out fault simulation；Direct fault location and instruction control machine, respectively with it is described therefore
Hinder single machine connection on simulated target machine and star, the fault mode for sending single machine instructs, and realizes fault simulation target machine
Switching on single machine model serial ports and star between the true single machine serial ports of single machine.
It is provided with one group of I/O board in the fault simulation target machine, passes through ground checkout equipment and rail control meter
The connection of calculation machine, generates the input signal of Attitude and orbit control computer, and acquire the output signal of Attitude and orbit control computer, is used for model solution
It calculates.
Between the fault simulation host and fault simulation target machine, need to transmit following information: target application
Program, is generated by fault simulation host and passes through network and be downloaded to fault simulation target machine；Signal is controlled, in fault simulation place
Change the attribute of destination application on host, and starts and stop destination application；Signal data, in fault simulation place
The parameter value of fault model is changed on host, and the parameter value of update is downloaded to fault simulation target machine by network.
It is provided with relay in the direct fault location and instruction control machine, is realized by the relay and fault simulation
Switching connection on target machine and star between single machine, to realize the switching of true single machine serial ports and single machine model serial ports.
The present invention also provides a kind of failure simulation methods of Satellite attitude and orbit control system based on embedded VxWorks, include
Following steps:
S1, fault simulation host run Simulink by Matlab modeling software, establish fault model, carry out model
Fault model compiling is generated the destination application that can be run in Vxworks operating system by parameter setting；
S2, fault simulation target machine download the destination application generated by fault simulation host and fortune by network
Row；
S3, direct fault location and instruction control machine are to failure needed for fault simulation target machine Dynamic injection；
S4, direct fault location and instruction control machine according to built-in relay realize on fault simulation target machine and star single machine it
Between switching connection, carry out the fault simulating test of satellite gravity anomaly.
The failure simulation method of Satellite attitude and orbit control system of the present invention based on embedded VxWorks also includes:
S5, data acquisition and display is carried out to simulation run state, carries out fault diagnosis and restructuring analysis and verification test.
In the S4, when continuous communication failure or the continuous data number of stoppages are no more than number of stoppages threshold value, for
When its fault data of data fault is less than fault threshold, to abnormal data not to use, and direct fault location and instruction control machine pair
In single machine on star and fault simulation target machine without hand-off process；It is right when continuous fault number is more than number of stoppages threshold value
When its fault data of data fault is greater than fault threshold, direct fault location and instruction control machine are for single machine on star and fault simulation
Target machine switches over.
In conclusion the fault simulation system of the Satellite attitude and orbit control system provided by the invention based on embedded VxWorks
And method, fault diagnosis can be carried out and system reconfiguration is tested, improve Satellite attitude and orbit control system standalone hardware and posture trackwork
In the fault-tolerant ability of fault mode, guarantee the safety of satellite.
Detailed description of the invention
Fig. 1 is the structure of the fault simulation system of the Satellite attitude and orbit control system based on embedded VxWorks in the present invention
Schematic diagram；
Fig. 2 is the process of the failure simulation method of the Satellite attitude and orbit control system based on embedded VxWorks in the present invention
Figure；
Fig. 3 is between the fault simulation target machine and fault simulation host based on embedded VxWorks in the present invention
The schematic diagram of interactive mode work；
Fig. 4 is the functional diagram of the fault simulation target machine based on embedded VxWorks in the present invention；
Fig. 5 is the functional diagram of the direct fault location and instruction control machine in the present invention.
Specific embodiment
Below in conjunction with FIG. 1 to FIG. 5, the preferred embodiment that the present invention will be described in detail.
As shown in Figure 1, the structural schematic diagram of the fault simulation system for Satellite attitude and orbit control system provided by the invention, is adopted
The model and fault mode that single machine is realized with host-target machine technology include: fault simulation host 1, using Windows
Operating system runs Matlab modeling software, carries out failure mould based on Simulink (it is one of the significant components of MATLAB)
Type is established, and generates the destination application under VxWorks real time operating system；Fault simulation target machine 2, with the event
Barrier simulation host 1 runs VxWorks real time operating system and destination application carries out fault simulation by network connection,
Guarantee the real-time and reliability of analogue system；Direct fault location and instruction control machine 3, respectively with the fault simulation target
Single machine 4 (true single machine) connects on machine 2 (single machine model) and star, and the fault mode for sending single machine instructs, and realizes true
The switching of single machine serial ports and single machine model serial ports.
It is provided with one group of I/O (input/output) board in the fault simulation target machine 2, is set by ground test
Standby 6 connect with Attitude and orbit control computer 5, and are communicated with actual signal.As shown in Figure 1, the ground checkout equipment 5 includes
Signal collecting device, ground control equipment and terminal presentation facility etc..
As shown in figure 3, the interaction between fault simulation target machine and fault simulation host based on embedded VxWorks
The schematic diagram of formula work.VxWorks are a kind of PC machine operation systems for product prototype exploitation, test and configuration real-time system
System.In order to improve real-time simulation ability, VxWorks use host-target machine technological approaches, wherein fault simulation host
Machine 1 establishes fault model using Simulik, the parameter configuration before being emulated, then will using RTW and VC compiler
Simulik fault model is compiled as real-time target code as an executable destination application and downloads to fault simulation
Target machine 2；And fault simulation target machine 2 then starts real-time kernel, operational objective application program passes through I/O board and outside
Target device carries out data exchange, the final real-time simulation test for realizing Attitude and orbit control system semi physical.
Between the fault simulation host 1 and fault simulation target machine 2, need to transmit the following information of exchange: 1,
Destination application is generated by fault simulation host 1 and is downloaded to fault simulation target machine 2 by network；2, signal is controlled,
Change the attribute of destination application on fault simulation host 1, and starts and stop destination application；3, signal number
According to, the parameter value of change Simulik model on fault simulation host 1, and the parameter value of update is downloaded to by network
Fault simulation target machine 2.
The vxworks operating system includes: Wind kernel, I/O system, file system, plate electrode support packet BSP
(Board Support Package) and network system etc..Wherein, Wind kernel is the core of vxworks operating system, is real
The micro-kernel of existing real-time multi-task operating system basic function.The function that Wind kernel is realized includes between multi-task scheduling, task
Synchronization and inter-process communication mechanisms, memory management, timer and interrupt processing etc..
As shown in figure 4, being the functional diagram of fault simulation target machine comprising: master control borad, multiple RS422 serial port boards, D/A
(digital-to-analog) transition card and reflective memory card etc..Be additionally provided in the fault simulation target machine 2 one piece of single board computer and
One group of I/O board runs VxWorks real time operating system and simulation model, and generates Attitude and orbit control computer by I/O board
Input signal, and the output signal of Attitude and orbit control computer is acquired, it is used for Models computed.
In the present embodiment, vxworks operating system provides the I/O driving equipment library of multiple standards I/O board, is different
I/O board provides different drivers.In the application, used I/O board corresponding templates are dragged in model, are adopted
The parameter designing of truck, and corresponding board is accessed during actual emulation, when being incorporated into model file, board letter therein
Breath can be compiled as executable code, and after downloading on fault simulation target machine 2, target is set by data collecting card and external object
Standby (Attitude and orbit control computer) establishes connection, constitutes real-time simulation circuit.
As shown in figure 5, for direct fault location and instruct the functional diagram of control machine, by control on mating board it is built-in after
Electric appliance, realize and fault simulation target machine 2 and star on switching between single machine 4 connect, thus realize true single machine serial ports and
The switching of single machine model serial ports.It can be responsible for sending event by the simulation model in network-control fault simulation target machine 2 simultaneously
Hinder mode instruction.
As shown in Fig. 2, being the fault simulation side of the Satellite attitude and orbit control system provided by the invention based on embedded VxWorks
The specific flow chart of method comprising the steps of:
S1, fault simulation host 1 by Matlab modeling software run Simulink, installation targets code encoder,
Simulink fault model is established, model parameter setting is carried out, Simulink fault model is compiled using the RTW of Matlab and is given birth to
At the real-time target code (model name .lo) that can be run in Vxworks operating system, become an executable target application
Program, using the model as sensor or executing agency；
S2, fault simulation target machine 2 download the destination application generated by fault simulation host 1 and fortune by network
Row forms closed-loop simulation system with software is controlled on dynamics simulation software, star；
The direct fault location software that S3, direct fault location and instruction control machine 3 are developed according to application software Visual C++, is realized
To failure needed for 2 Dynamic injection of fault simulation target machine；
S4, direct fault location and instruction control machine 3 realize single machine on fault simulation target machine 2 and star according to built-in relay
Switching connection between 4, allows the department pattern in fault simulation target machine 2 to be substituted with true single machine, carries out attitude control of satellite
The fault simulating test of system.
The failure simulation method of Satellite attitude and orbit control system of the present invention based on embedded VxWorks also includes:
S5, using data acquisition and telemetry terminal system software to simulation run state carry out data acquisition and display, carry out fault diagnosis with
Restructuring analysis and verification test.
In the S4, when continuous communication failure or the continuous data number of stoppages are no more than number of stoppages threshold value, for
When its fault data of data fault is less than fault threshold, to abnormal data not to use, and direct fault location and instruction control machine 3 are right
In single machine 4 on star and fault simulation target machine 2 without hand-off process；When continuous fault number is more than number of stoppages threshold value,
When being greater than fault threshold for its fault data of data fault, direct fault location and instruction control machine 3 are for single machine 4 and failure on star
Simulated target machine 2 switches over.
Fault simulation system tests these indexs by control continuous fault number and data fault bias,
Examine this partial function of the fault diagnosis of Attitude and orbit control system whether correct, isolation and system reconfiguration function of the checking system to failure
Whether effectively.The fault threshold and number of stoppages threshold value of each failure single machine can pass through note number change.
The failure simulation method of Satellite attitude and orbit control system of the present invention based on embedded VxWorks, will before testing
Fault simulation system is initialized as the state of Attitude and orbit control system under normal circumstances, single on the star communicated with Attitude and orbit control computer on star
Machine is true single machine.After each Test to Failure, fault simulation system is restored to the state of true single machine access system.
Compared with prior art, the failure mould of the Satellite attitude and orbit control system provided by the invention based on embedded VxWorks
Quasi- system and method, has the following advantages and beneficial effects:
1, can the various fault modes of analogue simulation, carry out fault diagnosis and system reconfiguration and test, improve Satellite attitude and orbit control
System standalone hardware and posture trackwork guarantee the safety of satellite in the fault-tolerant ability of fault mode.
2, analogue system is at low cost, since control unit price is usually very expensive on satellite, the failure mould of control unit
It is quasi-, it is necessary to carry out artificial destruction, and the fault mode that can be simulated is extremely limited, the cost paid thus is too big；And this
The failure for inventing the fault simulation system provided is replaced with model, does not need true single machine, therefore cost substantially reduces, and spirit
It is living.
3, controllability is high, and true single machine and model are switched in which can be convenient in real time, can be according to failure during test
The requirement of test is greatly improved by direct fault location and instruction control machine come the switching between each single machine of real-time control and model
Working efficiency.
4, simulation fidelity is high, according to current failure content of the test, is only carried out to the single machine for needing to be arranged failure with model
Direct fault location, remaining switches to true single machine, the in-orbit working condition of more true analog satellite.
5, the real-time of emulation is improved.Satellite control system calculates from the output of acquisition executing agency, satellite dynamics, is defeated
Data should be less than star until the time that the overall process of sensor output measurement result is consumed to electric signal source or various simulators out
The time of the upper Attitude and orbit control computer one control period 0.5 second；Kinetic model and single machine model are all made of VxWorks and grasp in real time
Make system, guarantees the real-time of analogue system.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (5)
1. a kind of fault simulation system of the Satellite attitude and orbit control system based on embedded VxWorks, which is characterized in that use host
Machine-target machine technology realizes the model and fault mode of single machine, includes:
Fault simulation host runs Matlab modeling software, carries out fault model foundation based on Simulink, and generate
Destination application under VxWorks real time operating system；
Fault simulation target machine runs VxWorks real-time oss with the fault simulation host by network connection
System and destination application carry out fault simulation；
Direct fault location and instruction control machine, connect, for sending out respectively with single machine on the fault simulation target machine and star
It send the fault mode of single machine to instruct, realizes the true single machine serial ports of single machine on the single machine model serial ports and star of fault simulation target machine
Between switching；
The fault simulation target machine is connect by ground checkout equipment with Attitude and orbit control computer, and Attitude and orbit control computer is generated
Input signal, and the output signal of Attitude and orbit control computer is acquired, it is used for Models computed, is calculated to simulate true single machine and rail control
Communication between machine.
2. the fault simulation system of the Satellite attitude and orbit control system based on embedded VxWorks as described in claim 1, feature
It is, between the fault simulation host and fault simulation target machine, needs to transmit following information:
Destination application, is generated by fault simulation host and passes through network and be downloaded to fault simulation target machine；
Signal is controlled, changes the attribute of destination application on fault simulation host, and starts and stop target application
Program；
Signal data, changes the parameter value of fault model on fault simulation host, and the parameter value of update is passed through network
It is downloaded to fault simulation target machine.
3. the fault simulation system of the Satellite attitude and orbit control system based on embedded VxWorks as described in claim 1, feature
It is, is provided with relay in the direct fault location and instruction control machine, is realized and fault simulation target by the relay
Switching connection on machine and star between single machine, to realize the switching of true single machine serial ports and single machine model serial ports.
4. a kind of failure simulation method of the Satellite attitude and orbit control system based on embedded VxWorks, which is characterized in that comprising following
Step:
S1, fault simulation host run Simulink by Matlab modeling software, establish fault model, carry out model parameter
Fault model compiling is generated the destination application that can be run in Vxworks operating system by setting；
S2, fault simulation target machine download the destination application generated by fault simulation host and operation by network；
S3, direct fault location and instruction control machine are to failure needed for fault simulation target machine Dynamic injection；
S4, direct fault location and instruction control machine are realized on fault simulation target machine and star between single machine according to built-in relay
Switching connection, carries out the fault simulating test of satellite gravity anomaly；
Single machine independently switching verifying entirely, Quan Mianjin are realized in conjunction with satellite failures diagnostic design scheme by the failure simulation method
Row fault diagnosis and reconstruct are tested.
5. the failure simulation method of the Satellite attitude and orbit control system based on embedded VxWorks as claimed in claim 4, feature
It is, in the S4:
When continuous communication failure or the continuous data number of stoppages are no more than number of stoppages threshold value, for its number of faults of data fault
When according to being less than fault threshold, to abnormal data not to use, and direct fault location and instruction control machine are for single machine on star and failure
Simulated target machine is without hand-off process；
When continuous fault number is more than number of stoppages threshold value, when being greater than fault threshold for its fault data of data fault, therefore
Barrier injection and instruction control machine switch over single machine on star and fault simulation target machine.
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