CN106774280A - Method for automatic fault diagnosis on a kind of counteraction flyback star - Google Patents
Method for automatic fault diagnosis on a kind of counteraction flyback star Download PDFInfo
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- CN106774280A CN106774280A CN201710053249.2A CN201710053249A CN106774280A CN 106774280 A CN106774280 A CN 106774280A CN 201710053249 A CN201710053249 A CN 201710053249A CN 106774280 A CN106774280 A CN 106774280A
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- counteraction flyback
- counteraction
- flyback
- failure
- star
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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
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
-
- 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
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
Abstract
The invention discloses method for automatic fault diagnosis on a kind of counteraction flyback star, the operational reliability of satellite attitude and orbit control subsystem is improved, it contains following steps：S1, it is respectively provided with a counteraction flyback in the four direction of spacecraft, and which part counteraction flyback access system works, and instruction output to each counteraction flyback carries out amplitude limit；S2, periodically four service datas of counteraction flyback of collection；Four respective data modes of counteraction flyback in S3, interval between diagnosis, if data are normal, return and perform step S2 continuation gathered datas, if data exception, represent reaction wheel failure, perform step S4；S4, failure counteraction flyback is isolated, switch remaining healthy counteraction flyback access system work.Its advantage is：In the case of flywheel failure, the method can promptly and accurately put flywheel Reflector, and failure flywheel is isolated；System can be reconstructed under the conditions of possible.
Description
Technical field
The present invention relates to satellite attitude and orbit control subsystem Reliability Assurance technical field, and in particular to a kind of counteraction flyback star
Upper method for automatic fault diagnosis.
Background technology
Counteraction flyback is one of important unit of rail control subsystem, and satellite normally runs during its reliable normal work
Basic guarantee.When flywheel is in-orbit to go wrong, if can not diagnose in time, catastrophe failure situation causes satellite out of control next time.State
Some are not diagnosed independently interior satellite in orbit to flywheel, or conditions for diagnostics is not perfect enough, therefore, occurred because of flywheel failure
Into the phenomenon of full attitude.As the life requirements of satellite is more and more long, on the star of flywheel it is safe and reliable carry out it is autonomous therefore
Barrier diagnosis and isolation are also more and more urgent with the requirement of reconstruct.
Therefore, satellite attitude and orbit control subsystem by means such as remote measuring and controllings except that can carry out fault diagnosis, isolation to flywheel
And reconstruct is outer, should also have the ability of certain detection of in-orbit Autonomous fault, the switching of master backup unit and system reconfiguration, to prevent
The urgent and dangerous big failure of timeliness.
Satellite attitude and orbit control subsystem typically can configure 4 counteraction flybacks, and wherein X, Y and Z-direction respectively installs one, respectively
Along Xb、Yb、ZbDirection of principal axis is installed, angle mount wheel (RWS) and satellite b systems reference axis Xb、Yb、ZbAngle it is equal (54 ° 44 ').Just
Often during work, three orthogonal wheel work, angle mount wheel is cold standby, can be with angle mount wheel come generation in the case of a certain orthogonal flywheel failure
For failure wheel.
The direction of the angular-momentum vector of counteraction flyback is defined as follows：Perpendicular to mounting surface, the housing direction of flywheel is pointed to
For just, otherwise it is negative.In four counteraction flybacks, three counteraction flybacks are respectively along satellite body (three axles) coordinate system, its angle
Momentum positive vector is respectively directed to XbAxle, YbAxle, ZbDirection of principal axis.Angle mount counteraction flyback and the three of satellite body (three axles) coordinate system
Individual axle Xb、Yb、ZbInstalled into isoclinic angle (β=54 ° 44'), as shown in Figure 1.
The content of the invention
It is an object of the invention to provide method for automatic fault diagnosis on a kind of counteraction flyback star, add by flywheel
The correctness that off-position, communication port state and data command are performed carries out multiple Combining diagnosis, so as to realize to flywheel
Health judges, when one of flywheel failure, can carry out the excision isolation of the failure flywheel, and enter using other flywheels
Row control realization system reconfiguration, it is ensured that system operation is unaffected.
In order to achieve the above object, the present invention is achieved through the following technical solutions：
Method for automatic fault diagnosis on a kind of counteraction flyback star, improves the operational reliability of satellite attitude and orbit control subsystem,
It is characterized in that, comprise the steps of：
S1, it is respectively provided with a counteraction flyback in the four direction of spacecraft, and which part counteraction flyback is accessed
System works, and carries out amplitude limit to the instruction of each counteraction flyback output；
S2, periodically four service datas of counteraction flyback of collection；
Four respective data modes of counteraction flyback in S3, interval between diagnosis, if data are normal, return perform step S2 after
Continuous gathered data, if data exception, represents reaction wheel failure, performs step S4；
S4, failure counteraction flyback is isolated, switch remaining healthy counteraction flyback access system work.
Method for automatic fault diagnosis on above-mentioned counteraction flyback star, wherein, in step S1：
The four direction that the counteraction flyback is set is respectively 3 change in coordinate axis direction X, Y, Z of spacecraft and satellite b systems
And the S direction equal with the angle of above-mentioned 3 reference axis X, Y, Z.
Method for automatic fault diagnosis on above-mentioned counteraction flyback star, wherein, counteraction flyback in the step S2
Service data is included：
The subnormal rotating speed of on off operating mode, communication state, communication state.
Method for automatic fault diagnosis on above-mentioned counteraction flyback star, wherein, described step S3 is specifically included：
S31, according to four powering states of counteraction flyback recorded on star, if a certain in powering state in the cycle
The continuous on off operating mode of counteraction flyback is that the number of times for disconnecting reaches set point number Δ JRW, then judge that event occurs in the counteraction flyback
Barrier, the malfunction mark for putting the failure counteraction flyback is set to 1, and is transferred to step S4, otherwise continues executing with step S32；
S32, judge whether miscommunication occurs in Attitude and orbit control computer and four communications of counteraction flyback, if in the cycle
The a certain number of times for recurring miscommunication in powering state counteraction flyback reaches set point number Δ JRW, then the anti-work is judged
Broken down with flywheel, the malfunction mark for putting failure counteraction flyback is set to 1, and is transferred to step S4, otherwise continues executing with
Step S33；
When S33, communication are normal, each bat actual speed and upper of the counteraction flyback of each access system in calculating cycle
The rotating speed difference of instruction rotating speed is clapped, if the number of times that rotating speed difference continues to exceed given threshold reaches set point number, judging should
Counteraction flyback breaks down, and the malfunction for putting the failure counteraction flyback is masked as 1, and is transferred to step S4, otherwise returns
Perform step S2 and continue gathered data.
Method for automatic fault diagnosis on above-mentioned counteraction flyback star, wherein, the communication state packet in described S32
Contain：
Even-odd check, identification code, check byte.
Method for automatic fault diagnosis on above-mentioned counteraction flyback star, wherein：In the step S1 to counteraction flyback
Instruction output carry out amplitude limit and specifically include：
|ωci(k)-ωci(k-1)|≥ωmax(rpm), then ωci(k)=ωci(k-1)+ωmax×sign[ωci(k)-
ωci(k-1)]；
In formula, ωci(k)It is the current instruction rotating speed clapped, i=X, Y, Z, S, X, Y, Z, S is respectively counteraction flyback setting
Four direction, subscript k represents current bat, ωci(k-1)It is upper one bat flywheel instruction rotating speed, ωmaxTo make reaction in the work period
The maximum (top) speed increment that flywheel can reach.
The present invention has advantages below compared with prior art：
1st, by flywheel plus off-position, the correctness that the state and data command of communication port are performed carries out multiple
Combining diagnosis, so as to realize judging the health of flywheel, and have carried out isolation and system reconfiguration to failure flywheel；
2nd, because unit is non-linear in itself and the influence of the various objective factors such as external environment condition instantaneous interference, unit signal
With certain randomness, for the probability for making fault misdescription, fail to report or make a false report is preferably minimized, the total score when fault threshold is chosen
Analysis, comprehensively consideration, and failure needs continuous a period of time is considered, once signal value is continued above fault threshold, then sentence
Order machine failure；
3rd, this method does not carry out coupling judgement purely using the information of flywheel itself with other unit data on star, keeps away
The phenomenon of flywheel failure is exempted to be judged by accident due to other unit failures；
4th, in the case of flywheel failure, the method can promptly and accurately put flywheel Reflector, and failure flywheel is carried out every
From；System can be reconstructed under the conditions of possible, recover normal operation or degraded running, be finally reached raising rail control point and be
The reliability of system, the purpose for ensureing satellite mission and use requirement, ensuring satellite flight safety.
Brief description of the drawings
Fig. 1 is the counteraction flyback set location schematic diagram of prior art；
Fig. 2 is flow chart of the method for the present invention.
Specific embodiment
Below in conjunction with accompanying drawing, by describing a preferably specific embodiment in detail, the present invention is further elaborated.
As shown in Fig. 2 the present invention is public to provide method for automatic fault diagnosis on a kind of counteraction flyback star, Satellite Attitude is improved
The operational reliability of rail control subsystem, it is comprised the steps of：
S1, it is respectively provided with a counteraction flyback in the four direction of spacecraft, and which part counteraction flyback is accessed
System works, and in order to be able to carry out efficient diagnosis to counteraction flyback, the instruction output to counteraction flyback carries out amplitude limit；
S2, periodically four service datas of counteraction flyback of collection, in the present embodiment, the service data includes break-make shape
The subnormal rotating speed of state, communication state, communication state, be by each interface from spaceborne computer to each counteraction flyback for example
Communication interface, on off operating mode telemetry interface are acquired what is obtained；
Four respective data modes of counteraction flyback in S3, interval between diagnosis, if data are normal, return perform step S2 after
Continuous gathered data, if data exception, represents reaction wheel failure, performs step S4；
S4, failure counteraction flyback is isolated, switch remaining healthy counteraction flyback access system work.
In the present embodiment, as shown in figure 1, the four direction that counteraction flyback in step S1 is set be respectively spacecraft with
3 change in coordinate axis direction X, Y, Z of satellite b systems and the S direction equal with the angle of above-mentioned 3 reference axis X, Y, Z, and generally will
Wherein 3 counteraction flyback access system work.
In the present embodiment, described step S3 is specifically included：
S31, to the counteraction flyback of access system send respectively power-up instruction, it is contemplated that unit is non-linear in itself, outside
The influence of the various objective factors such as environment instantaneous interference, unit electric signal may have certain randomness, therefore single exception
Malfunction is not judged to, if a certain continuous on off operating mode of counteraction flyback is that the number of times for disconnecting reaches set point number Δ in the cycle
JRW, then judge the counteraction flyback break down, put the failure counteraction flyback malfunction mark FWX or FWY or FWZ or
FWS is set to 1, and is transferred to step S4, otherwise continues executing with step S32；
S32, judge whether miscommunication occurs in Attitude and orbit control computer and four communications of counteraction flyback, the communication number
According to comprising even-odd check, identification code, check byte, in the event of miscommunications such as even-odd check, identification code, check bytes, then
Judge this data exception, similarly, single extremely is not judged to malfunction, if in the cycle a certain counteraction flyback recur it is logical
The number of times for interrogating mistake reaches set point number Δ JRW, then judge that the counteraction flyback breaks down, put the event of failure counteraction flyback
Barrier Status Flag is set to 1, and is transferred to step S4, otherwise continues executing with step S33；
When S33, communication are normal, each of the counteraction flyback of each access system makes real border rotational speed omega in calculating cyclewi(k)
Instruction rotational speed omega is clapped with upper oneci(k-1)Rotating speed difference Δ Wi, i=X, Y, Z, S, subscript k represents current bat, Δ Wi=|
ωci(k-1)-ωwi(k)|, if rotating speed difference Δ WiThe number of times for continuing to exceed given threshold Δ W reaches set point number Δ JRW, then sentence
The fixed counteraction flyback breaks down, and it is 1 to put the malfunction mark FWX or FWY or FWZ or FWS of the failure counteraction flyback,
And step S4 is transferred to, otherwise return and perform step S2 continuation gathered datas.
Above-mentioned instruction rotational speed omegaci(k)Calculating process it is as follows, according to current satellite information, needs can be calculated anti-
The angular momentum H that effect flywheel is produced(k), then angular momentum and the rotary inertia J of counteraction flyback by counteraction flybackwObtain anti-
Act on the instruction rotating speed of flywheel：
What emphasis to be designed here be will be to the current instruction rotational speed omega clappedci(k)Need to set the tool according to counteraction flyback
Body index carries out comprehensive analysis, considers comprehensively.
The current instruction rotational speed omega clappedci(k), i=X, Y, Z, S, subscript k represent current and clap, in above-mentioned steps S1, amplitude limit meter
Calculation process is specially：
|ωci(k)-ωci(k-1)|≥ωmax(rpm), then ωci(k)=ωci(k-1)+ωmax×sign[ωci(k)-
ωci(k-1)]；
In formula, ωci(k-1)Upper one claps flywheel instruction rotating speed, ωmaxTo enable counteraction flyback reach most in the work period
Big incremental speed.
In one embodiment of the invention, it is assumed that the main performance index of certain counteraction flyback is as follows：
Maximum angular momentum (absolute value)：25 ± 1Nms (correspondence rotating speed ± 2500rpm)
Maximum reaction torque (absolute value)：≥0.2Nm
Then the 0.2Nm under maximum reaction torque, in work period 0.5s, enables the rotating speed increasing that counteraction flyback reaches
It is 10rpm to measure, then consider certain surplus, takes the maximum of this and accelerates no more than 9rpm.
If | ωci(k)-ωci(k-1)| >=9 (rpm), then ωci(k)=ωci(k-1)+9×sign[ωci(k)-ωci(k-1)]。
In the present embodiment, the threshold value of Δ W is chosen the incremental speed that need to be reached with above-mentioned counteraction flyback and is considered, and
The certain error and time delay being had when being performed according to counteraction flyback, Δ W can be taken as 20rpm.
In the present embodiment, the set point number Δ JRWUsed as the number of times of failure judgement continuous abnormal, the data can basis
Unit exception is chosen to the urgency level of system, because the angular momentum relative satellite that counteraction flyback brings is smaller, because
This counteraction flyback Short Term Anomalous does not have fatal harm, Δ J to systemRWCan take larger, typically take 10s corresponding star last weeks
Issue.
Although present disclosure is discussed in detail by 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 the above, for of the invention
Various modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (6)
1. method for automatic fault diagnosis on a kind of counteraction flyback star, improves the operational reliability of satellite attitude and orbit control subsystem, its
It is characterised by, comprises the steps of：
S1, it is respectively provided with a counteraction flyback, and which part counteraction flyback access system in the four direction of spacecraft
Work, and amplitude limit is carried out to the instruction of each counteraction flyback output；
S2, periodically four service datas of counteraction flyback of collection；
Four respective data modes of counteraction flyback in S3, interval between diagnosis, if data are normal, return to execution step S2 and continue to adopt
Collection data, if data exception, represent reaction wheel failure, perform step S4；
S4, failure counteraction flyback is isolated, switch remaining healthy counteraction flyback access system work.
2. method for automatic fault diagnosis on counteraction flyback star as claimed in claim 1, it is characterised in that in step S1：
The four direction that the counteraction flyback is set be respectively spacecraft and satellite b systems 3 change in coordinate axis direction X, Y, Z and
The S direction equal with the angle of above-mentioned 3 reference axis X, Y, Z.
3. method for automatic fault diagnosis on counteraction flyback star as claimed in claim 1, it is characterised in that in the step S2
The service data of counteraction flyback include：
The subnormal rotating speed of on off operating mode, communication state, communication state.
4. method for automatic fault diagnosis on counteraction flyback star as claimed in claim 3, it is characterised in that described step S3
Specifically include：
S31, four powering states of counteraction flyback according to record on star, if a certain anti-work in powering state in the cycle
It is that the number of times for disconnecting reaches set point number Δ J with the continuous on off operating mode of flywheelRW, then judge that the counteraction flyback breaks down, put
The malfunction mark of the failure counteraction flyback is set to 1, and is transferred to step S4, otherwise continues executing with step S32；
S32, judge whether miscommunication occurs in Attitude and orbit control computer and four communications of counteraction flyback, if a certain in the cycle
The number of times for recurring miscommunication in powering state counteraction flyback reaches set point number Δ JRW, then judge that the reaction flies
Wheel breaks down, and the malfunction mark for putting failure counteraction flyback is set to 1, and is transferred to step S4, otherwise continues executing with step
S33；
When S33, communication are normal, each bat actual speed of the counteraction flyback of each access system is clapped with upper one and referred in calculating cycle
The rotating speed difference of rotating speed is made, if the number of times that rotating speed difference continues to exceed given threshold reaches set point number, the anti-work is judged
Broken down with flywheel, the malfunction for putting the failure counteraction flyback is masked as 1, and is transferred to step S4, otherwise return and perform
Step S2 continues gathered data.
5. method for automatic fault diagnosis on counteraction flyback star as claimed in claim 4, it is characterised in that in described S32
Communication state packet contain：
Even-odd check, identification code, check byte.
6. method for automatic fault diagnosis on counteraction flyback star as claimed in claim 1, it is characterised in that：In the step S1
Amplitude limit carried out to the instruction of counteraction flyback output specifically include：
|ωci(k)-ωci(k-1)|≥ωmax(rpm), then ωci(k)=ωci(k-1)+ωmax×sign[ωci(k)-ωci(k-1)]；
In formula, ωci(k)It is the current instruction rotating speed clapped, i=X, Y, Z, S, X, Y, Z, S is respectively four of counteraction flyback setting
Direction, subscript k represents current bat, ωci(k-1)It is upper one bat flywheel instruction rotating speed, ωmaxTo make counteraction flyback in the work period
The maximum (top) speed increment that can be reached.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110389592A (en) * | 2019-07-18 | 2019-10-29 | 南京航空航天大学 | A kind of Spacecraft Attitude Control method based on distributed intelligence flywheel |
| CN111930095A (en) * | 2020-07-23 | 2020-11-13 | 航天科工空间工程发展有限公司 | Fault diagnosis handling method, computing device and system based on low-earth orbit satellite |
| CN113625554A (en) * | 2021-06-28 | 2021-11-09 | 北京控制工程研究所 | Counteractive wheel configuration optimization method and system considering fault conditions |
| CN114476135A (en) * | 2022-02-22 | 2022-05-13 | 中国空间技术研究院 | Hot standby method for satellite bias momentum flywheel |
| CN115123584A (en) * | 2022-06-27 | 2022-09-30 | 山东大学 | Structure and control dual-backup reaction flywheel system suitable for satellite S shaft and control method |
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| CN114476135B (en) * | 2022-02-22 | 2024-02-09 | 中国空间技术研究院 | Satellite bias momentum flywheel hot standby method |
| CN115123584A (en) * | 2022-06-27 | 2022-09-30 | 山东大学 | Structure and control dual-backup reaction flywheel system suitable for satellite S shaft and control method |
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