CN108490775B - Temperature stability control device and control method for spacecraft - Google Patents
Temperature stability control device and control method for spacecraft Download PDFInfo
- Publication number
- CN108490775B CN108490775B CN201810223265.6A CN201810223265A CN108490775B CN 108490775 B CN108490775 B CN 108490775B CN 201810223265 A CN201810223265 A CN 201810223265A CN 108490775 B CN108490775 B CN 108490775B
- Authority
- CN
- China
- Prior art keywords
- temperature
- control
- value
- heaters
- spacecraft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D23/00—Control of temperature
- G05D23/19—Control of temperature characterised by the use of electric means
- G05D23/1927—Control of temperature characterised by the use of electric means using a plurality of sensors
- G05D23/193—Control of temperature characterised by the use of electric means using a plurality of sensors sensing the temperaure in different places in thermal relationship with one or more spaces
- G05D23/1931—Control of temperature characterised by the use of electric means using a plurality of sensors sensing the temperaure in different places in thermal relationship with one or more spaces to control the temperature of one space
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D23/00—Control of temperature
- G05D23/19—Control of temperature characterised by the use of electric means
- G05D23/20—Control of temperature characterised by the use of electric means with sensing elements having variation of electric or magnetic properties with change of temperature
- G05D23/24—Control of temperature characterised by the use of electric means with sensing elements having variation of electric or magnetic properties with change of temperature the sensing element having a resistance varying with temperature, e.g. a thermistor
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Remote Sensing (AREA)
- Control Of Temperature (AREA)
Abstract
The invention aims to provide a temperature stability control device and a temperature stability control method for a spacecraft. The temperature stability control device for the spacecraft comprises a temperature stability controller, a heat insulation device and a mounting substrate. The temperature stability controller includes: a temperature detection unit having a plurality of temperature detection elements for detecting temperatures of respective positions thereof and outputting temperature detection values; a heating unit having a plurality of heaters and heating the heaters according to a command from the control unit; and a control unit for receiving the temperature detection value, comparing the temperature detection value with a set value, and calculating a control value using the comparison result to control the heating unit. The control section randomly selects a plurality of heaters in different sections according to the magnitude of the control value and the number of heaters and sets the on-off state and time in such a manner that the heating power required for the next control cycle can be ensured to be constant. The invention has the advantages of simple implementation, light weight, high temperature control stability, long service life of the heater, strong system design reliability and less occupied satellite software resources.
Description
Technical Field
The present invention relates to a temperature stability control device and a control method for a spacecraft, and more particularly, to an improvement of a temperature stability control device and a control method for a spacecraft, which are suitable for use in a spacecraft.
Background
Generally speaking, the task of a thermal control system of a spacecraft is to ensure that all instruments and equipment on a satellite meet the temperature index requirements under the conditions of a determined orbit, attitude and working mode. In recent years, with the continuous development of aerospace technology, more and more satellite loading equipment (especially scientific experimental loads) have made higher requirements on temperature uniformity, temperature stability and temperature change rate. For example, the working temperature stability of the installation surface of an atomic clock of a certain navigation satellite is required to be not more than +/-0.5 ℃/15h, the radial temperature gradient of a main mirror of a load camera of a certain remote sensing satellite is not more than 0.5 ℃, and the temperature change rate is not more than 1 ℃/h. Correspondingly, higher requirements are also put on the control module and the algorithm of the thermal control software.
Generally, during the on-orbit flight of the spacecraft, the temperature level and the variation condition of the whole satellite are influenced by the change of heat flow outside the orbit and the change of power consumption inside the satellite. Generally, the off-orbit heat flow includes three components, a direct solar heat flow, a reflected earth heat flow, and an infrared earth radiant heat flow. Moreover, the external heat flow absorbed by a certain part will show a periodic change rule with the change of the surface thermo-optical property, position and posture. For devices and parts requiring high temperature stability, a method of controlling the temperature stability of the whole satellite to realize high temperature stability in a specific area has been proposed, but this method wastes valuable resources on the satellite, such as weight, power consumption, remote measurement and control, and the like. Therefore, it is considered to first adopt an isolation measure for isolating external thermal disturbance and an electrically-heated active thermal control technique of step control, thereby performing temperature control with high stability.
The existing spacecraft temperature stability control system is a closed-loop control loop formed by an electric heater, a controller and a temperature sensor, and an electric heating active thermal control mode is further adopted on the basis of adopting a passive thermal control mode. The design idea lies in that: the heating power is designed according to the low-temperature working condition by adopting a low-temperature design method, and the corresponding temperature control capability is ensured under the high-temperature working condition, so that the active temperature control is realized.
The design idea of the known thermal control method is as follows: firstly, a stable thermal environment is provided for the controlled object, the temperature fluctuation of the controlled object is reduced by adopting a passive thermal control mode, and on the basis, the internal and external thermal influence is eliminated by adopting an active thermal control mode of a corresponding control algorithm. Specifically, the following measures are taken:
1. and (3) heat insulation design: reducing radiative thermal coupling by encasing the multilayer insulation assembly and reducing material surface emissivity; the thermal conduction and thermal coupling are reduced by adding a heat insulation gasket and reducing the contact area;
2. designing a control algorithm: an active temperature control technology of electric heating is adopted, a low-temperature method is adopted to design a radiating surface and heating power, and corresponding temperature control capability is ensured under a high-temperature working condition;
disclosure of Invention
Technical problem to be solved by the invention
As a control algorithm for realizing the active thermal control, for example, a switching control algorithm, which is a commonly used temperature control algorithm in the active thermal control of the spacecraft, is proposed. The method is characterized by simple control and can meet the temperature control requirements of most equipment with low requirements on temperature stability (within a few degrees). However, this control method has a problem that the control ability for the temperature stability is not high enough.
As another control algorithm for realizing the active thermal control, for example, a proportional control algorithm is proposed. Although the proportional control algorithm has higher control precision compared with the on-off control algorithm, in the algorithm, in order to ensure the requirement of the temperature control stability of the system, a control period of shorter time is required, so the frequency of the on-off action of the heater is more frequent, thereby the service life is reduced, in addition, because the proportional control algorithm usually adopts a pulse heating mode, the temperature control curve is easy to generate a peak, thereby the temperature stability is influenced.
On the other hand, as still another control algorithm for realizing the active thermal control, for example, a PI control algorithm is proposed. By adopting the PI control algorithm, the static deviation can be eliminated and the overshoot condition in the temperature control process can be reduced, thereby simultaneously meeting the control requirements of high precision and high temperature stability. However, when this algorithm is used, the number of times the heater is switched on and off is frequent, which leads to a reduction in the service life, and the algorithm has a high demand for the calculation capability of the star software.
Further, as another other control algorithm for realizing the active thermal control, for example, a PID control algorithm is proposed. The PID control algorithm has good temperature control stability and high reliability, can eliminate static deviation, has less overshoot, and can realize high-precision and high-stability temperature control. However, the PID control algorithm has the following problems: the method is dependent on an accurate mathematical model of a controlled object, the algorithm is complex, the control parameters of the method generally need to be optimized through tests, and in addition, the times of the heater for switching on and off are frequent, so that the service life is influenced, and more software resources are occupied.
As described above, various control algorithms have been proposed, but these are not sufficient. The present invention has been made in view of the above problems, and it is an object of the present invention to provide a temperature stability control apparatus for a spacecraft, which is simple and convenient to implement, has a light weight, a high temperature control stability, a long heater life, a high system design reliability, and occupies a small amount of satellite software resources, and a control method thereof.
Technical scheme for solving technical problem
The temperature stability control device for the spacecraft of the present invention comprises: a temperature stability controller, a mounting substrate, and a heat insulating device,
the temperature stability controller is used for controlling the temperature stability of a specific area and is arranged on the mounting substrate,
the heat insulating device is fixed to the mounting substrate so as to cover the temperature stability controller and the temperature-controlled device,
the temperature stability controller includes:
a temperature detection unit having a plurality of temperature detection elements for detecting temperatures of respective positions thereof and outputting temperature detection values,
a heating section having a plurality of heaters and heating the heaters according to a command from the control section,
a control unit that receives the temperature detection value transmitted from the temperature detection unit, compares the temperature detection value with a set value, and calculates a control value using the comparison result to control the heating unit,
the control part randomly selects the heaters in intervals according to the size of the control value and the number of the heaters and sets corresponding switch states and time in a mode of ensuring that the heating power required by the next control period is unchanged.
The control part of the invention comprises a heater setting module, a temperature validity judging module, a data processing module, a switch control module and a segment proportion control module,
the heater setting module sets the plurality of heaters to an enabled state/a disabled state, respectively, according to a setting command inputted from the outside, and outputs the setting result to the segment ratio control module,
the temperature validity judging module sequentially instructs the temperature detecting elements to detect in each sampling interval, compares the temperature detecting value with a preset valid temperature interval, outputs the temperature detecting value to the data processing module as a valid temperature sampling value when the temperature detecting value is judged to be in the valid temperature interval, and eliminates the temperature detecting value and automatically switches to the next temperature detecting value to judge again when the temperature detecting value is judged not to be in the valid temperature interval,
the data processing module judges whether the effective temperature sampling value is positioned in a preset proportional control interval, under the condition that the effective temperature sampling value is positioned in the proportional control interval, the data processing module calculates the theoretical duty ratio of the next control period and outputs the theoretical duty ratio to the segmented proportional control module,
when the data processing module judges that the effective temperature sampling value is less than or equal to the lower limit of the temperature control threshold value of the proportional control interval, the switch control module starts all the heaters in the enabling state,
when the data processing module judges that the effective temperature sampling value is greater than or equal to the upper limit of the temperature control threshold value of the proportional control interval, the switch control module closes all the heaters in the enabling state,
and the segmented proportion control module randomly selects the heaters in the enabled state in a manner of ensuring that the heating power required by the next control cycle is not changed according to the received theoretical duty ratio of the next control cycle and the number of the heaters in the enabled state, and sets corresponding on-off states and time.
Effects of the invention
According to the temperature stability control device and the temperature stability control method for the spacecraft, the temperature stability control device for the spacecraft and the control method thereof are simple and convenient to implement, light in weight, high in temperature control stability, long in service life of the heater, strong in reliability of system design and small in occupied space software resources.
Drawings
Fig. 1 is a schematic diagram showing a configuration of a temperature stability control device 100 for a spacecraft according to embodiment 1 of the present invention.
Fig. 2 is a block diagram schematically showing the temperature stability controller 1 according to embodiment 1 of the present invention.
Fig. 3 is a flowchart showing the operation of the control unit 101 in the temperature stability controller 1 according to embodiment 1.
Fig. 4 is a block diagram schematically illustrating a modification 1a of the temperature stability controller 1 according to embodiment 1 of the present invention.
Fig. 5 is an enlarged schematic view of the vicinity of the end of the mounting substrate 3 in fig. 1.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The present invention is not limited to the following embodiments. Like reference symbols in the various drawings indicate like elements.
Fig. 1 is a schematic diagram showing a configuration of a temperature stability control device 100 for a spacecraft according to embodiment 1 of the present invention.
As shown in fig. 1, the temperature stability control device 100 for a spacecraft includes a temperature stability controller 1 for controlling the temperature stability of a specific region of the spacecraft, a mounting board 3 on which the temperature stability controller 1 and a temperature-controlled device 2 are mounted, and a heat insulating device 4 disposed on the mounting board 3 so as to cover the temperature stability controller 1 and the temperature-controlled device 2. Here, the example is described with 3 temperature-controlled devices 2, but the present invention is not limited to this.
The temperature stability control device 100 for a spacecraft is fixed to the device mounting plate 6 by, for example, the connecting member 5.
Fig. 2 is a block diagram schematically showing the temperature stability controller 1 according to embodiment 1 of the present invention.
The temperature stability controller 1 includes: the control unit 101, the temperature detection unit 201, and the heating unit 301 form a closed-loop control circuit.
As shown in fig. 2, the control section 101 includes a heater setting module 101a, a temperature validity determination module 101b, a data processing module 101c, a switch control module 101d, and a segment ratio control module 101 e. Hereinafter, the detailed description will be given.
(temperature detecting part 201)
The temperature detection unit 201 has a plurality of temperature detection elements of 2 or more, and 3 temperature detection elements 201a to 201c are exemplified here, but the present invention is not limited thereto. In the present embodiment, the negative temperature coefficient temperature detection element is taken as an example for explanation, but not limited thereto.
The plurality of temperature detection elements 201a to 201c detect a temperature change at the position thereof, and output detection signals to the input terminal of the control unit 101, respectively.
As the temperature detection element, for example, a high-precision temperature measurement thermistor or a platinum resistor can be suitably used. The plurality of temperature detection elements 201a to 201c are arranged close to each other and backup each other, and when a failure occurs in any one of the temperature detection elements, the temperature detection element is automatically switched to the backup temperature detection element. In addition, the arrangement position and the number of the temperature detection elements can be appropriately adjusted according to the design requirements.
(heating section 301)
The heating unit 301 heats according to the instruction of the control unit 101, thereby forming an active temperature control region. It has a plurality of heaters with the same power and similar positions, and 4 heaters 301a to 301d are exemplified here.
The plurality of heaters may be arranged in a uniform distribution, or may be densely distributed in some regions and sparsely distributed in some regions. The position and number of the plurality of heaters may be determined according to design requirements as long as they have a thermal response relationship with the plurality of temperature detecting elements.
(control section 101)
Fig. 3 is a flowchart showing the operation of the control unit 101 in the temperature stability controller 1 according to embodiment 1.
The control unit 101 receives the detection signal transmitted from the temperature detection unit 201, compares the detection signal with a set value, and controls the heating unit 301 so as to randomly select the heaters in the heating unit 301 and set the switching states and the switching times thereof in a stepwise manner such that the heating power required for the next control cycle is maintained. As will be described in detail below.
(Heater setting module 101a)
The control section 101 first sets the plurality of heaters 301a to 301d to "enabled state/disabled state" (i.e., "1/0") respectively in accordance with a setting instruction input from the outside at the start of each control cycle, and outputs the setting result to the segment rate control module 101 e. Here, it is assumed that the heaters 301a to 301d are all set to the "enabled state" in accordance with a setting command input from the outside. (step 1)
(temperature validity judging Module 101b)
Next, the temperature validity determination module 101b sequentially instructs 3 temperature detection elements 201a to 201c to perform detection in respective sampling cycles at a constant sampling timing, and stores the detected values Vmi (where m denotes an mth temperature detection element, m is 1, 2, 3; i denotes an ith sample, i is 1, 2, 3, …) as temperature sampling values, and compares the temperature sampling values with a preset valid temperature range [ Vmin, Vmax ]. Here, Vmin and Vmax are a lower threshold and an upper threshold of the effective temperature range, which are preset, respectively, and the number of sampling i may be preset according to a parameter such as a sampling period. (step 2)
When the temperature validity determination module 101b determines that the detection value Vmi is located in the valid temperature range [ Vmin, Vmax ] (yes in step 2), it outputs the detection value as a valid temperature sample value Vnt (where n denotes the nth valid temperature sample value, and n is 1, 2, 3, …) to the data processing module 101c for use in the subsequent closed-loop control algorithm.
When determining that the detection value Vmi is not within the valid temperature range [ Vmin, Vmax ] (no in step 2), the temperature validity determination module 101b excludes the detection value and automatically switches to the next detection value, for example, Vmi +1 (step 3) to newly perform validity determination.
Therefore, abnormal data generated due to damage of the temperature measuring element, external interference and the like can be prevented from being used for closed-loop algorithm control, and continuous and stable operation of the temperature control system is guaranteed.
Here, it is preferable that the temperature validity judging module 101b instructs the temperature detecting elements 201a to 201c to perform detection at a constant sampling rate in each sampling period, and compares only an intermediate value of a plurality of detection values obtained every second with a preset valid temperature range [ Vmin, Vmax ] as a temperature sampling value. For example, assuming that the sampling rate is 3 times/second, the temperature validity determination module 101b instructs the temperature detection element 201a to perform detection at a rate of 3 times/second, compares the 3 detection values V14, V15, and V16(V14< V15< V16) obtained at the 2 nd second of the sampling period with the intermediate value V15 as a temperature sampling value, and compares the temperature sampling value with the preset valid temperature range [ Vmin, Vmax ].
More preferably, the temperature validity judging module 101b stores the intermediate values obtained by detection and comparison at a constant sampling rate per second as described above for the last k seconds of the sampling period, calculates an arithmetic average value of the k intermediate values, and compares the calculated arithmetic average value with a preset valid temperature interval [ Vmin, Vmax ] as a temperature sampling value. For example, assuming that k is 3 and the sampling rate is 3 times/second, for every 1 second of the last 3 seconds, the intermediate values of the 3 detection values per second are sequentially acquired, the arithmetic mean value is calculated for the 3 intermediate values, and the arithmetic mean value is compared with [ Vmin, Vmax ]. Therefore, abnormal data can be eliminated more effectively, and uninterrupted continuous stable operation of the temperature control system can be ensured more reliably.
(data processing Module 101c) (switch control Module 101d)
As described above, the data processing module 101c receives the valid temperature sample Vnt (where n represents the nth valid temperature sample, and n is 1, 2, 3, …) transmitted from the temperature validity determination module 101b, and determines whether the valid temperature sample Vnt is located in the proportional control interval [ Vst- Δ V, Vst + Δ V ], where Vst is the voltage value corresponding to the target temperature and Δ V is the proportional control interval voltage deviation. (step 4)
If it is determined that the effective temperature sample value Vnt is located in the proportional control section [ Vst- Δ V, Vst + Δ V ] (yes in step 4), the data processing module 101c calculates the next control cycle theoretical duty ratio η according to the following formula 1 and outputs it to the segment proportional control module 101 e. (step 5)
η kpe Kp (Vnt-Vst) (equation 1)
In the formula (I), the compound is shown in the specification,
eta-theoretical duty cycle of the next control period
Proportional amplification factor of Kp-data processing Module 101c
Vnt-voltage value corresponding to the nth valid temperature sample value, n is 1, 2, 3, …;
vst is a voltage value corresponding to the target temperature;
if the effective temperature sample value Vnt is determined not to be within the proportional control interval [ Vst- Δ V, Vst + Δ V ] (no in step 4), the data processing module 101c further determines whether the effective temperature sample value Vnt is greater than or equal to the upper temperature control threshold of the proportional control interval (Vst + Δ V) and is smaller than the upper threshold Vmax of the effective temperature interval (step 6).
If the determination in step 6 is yes, the data processing module 101c outputs the determination result to the switch control module 101d, and the switch control module 101d turns on all the heaters in the "enabled state" (step 7).
If the determination in step 6 is "no", the following is made: that is, if the effective temperature sampling value Vnt is less than or equal to the lower temperature control threshold (Vst- Δ V) of the proportional control interval and is greater than the lower effective temperature interval threshold Vmin, the data processing module 101c outputs the determination result to the switch control module 101d, and the switch control module 101d turns off all the heaters in the "enabled state" (step 8).
As described above, the switching control module 101d turns all the heaters in the "enabled state" on or off when the effective temperature sampling value Vnt exceeds the proportional control interval [ Vst- Δ V, Vst + Δ V ] based on the switching control algorithm, thereby achieving the technical effect of rapidly converging the detected temperature of the temperature detection element toward the target temperature.
(segment ratio control Module 101e)
In the segment proportion control module 101e, based on the traditional proportion control algorithm, according to the magnitude of the theoretical duty ratio η of the next control period and the number N (N is a natural number) of the heaters in the "enabling state", a corresponding number of heaters are randomly selected from the heaters in the "enabling state" in a partition manner, and corresponding on-off states and time are set for power output, so that segment proportion control is realized.
For example, assume that the temperature stability controller 1 has 3 heaters each in the "enabled state". Table 1 shows the settings of the on-off state and the time (corresponding to the actual duty cycle) for the heater in the "enabled state" for different theoretical duty cycles. For example, when the theoretical duty ratio is 0< η ≦ 0.3, one heater is randomly selected from the 3 heaters in the "enabled state", and is controlled at the duty ratio of 3.0 η.
| Theoretical |
3 heaters in' enable state | Actual duty cycle η ″ |
| η≥1 | All open | 1 |
| 0.6＜η＜1 | All adopt to | η |
| 0.3＜η≤0.6 | Randomly selecting 2 heaters | 1.5η |
| 0＜η≤0.3 | Randomly selecting 1 heater | 3.0η |
| η≤0 | All close | 0 |
TABLE 1
Returning to fig. 3, in the present embodiment, the segment proportion control module 101e first determines whether (0< η ≦ 1/N) is satisfied (step 9) (here, N is 4, because there are 4 heaters 301a to 301d in the "enabled state"), and when step 9 is satisfied, arbitrarily selects 1 heater from the N heaters 301a to 301d in the "enabled state" and switches it according to N · (step 10).
If step 9 is not satisfied, the segment rate control module 101e determines whether or not (1/N < η ≦ 2/N) is satisfied (step 11) (here, N is 4), and if step 11 is satisfied, selects 2 heaters arbitrarily from the N heaters 301a to 301d in the "enabled state" and switches them in accordance with (N/2) × (step 12).
If step 11 is not satisfied, the segment rate control module 101e determines whether or not (2/N < η ≦ 3/N) is satisfied (step 13) (here, N is 4), and if step 13 is satisfied, arbitrarily selects 3 heaters from the N heaters 301a to 301d in the "enabled state" (here, all the heaters are selected), and switches the heaters in accordance with (N/3) × η (step 14).
If step 13 is not satisfied, (3/N < η ≦ 4/N) is determined to be satisfied (step 13) (here, N is 4), and the segment rate control module 101e selects all of the 4 heaters 301a to 301d in the "enabled state" and switches them in accordance with (N/4) × η (step 15).
The specific example in which the segment-by-segment proportional control module equally divides the interval of [0, 1] into a plurality of sub-intervals according to the number N of heaters in the "enabled state", compares the theoretical duty ratio η of the next control period with the plurality of sub-intervals in sequence, selects an appropriate number of heaters from the heaters in the "enabled state" based on the comparison result, and sets the corresponding on-off state and time is shown above. However, the selection of the number of heaters in the "enabled state" and the setting of the on/off state and time thereof are not limited to the division of the intervals, and the heaters may be cycled when the theoretical duty ratio is small while ensuring the heating power required for the next control cycle.
Therefore, the high-temperature stability control of a certain specific area can be realized on the basis of ensuring that the heating power required by the next control period is not changed. Under the condition of ensuring high temperature stability, the heaters are made to have 'duty-cycling' in a control period with a smaller theoretical duty ratio, so that the operation times of a switch control device of each heater in the service life are reduced, and the design reliability of the system is improved.
Compared with the traditional proportional control algorithm, the heaters participating in closed-loop control need to perform switching once in each control period, and the frequency of performing switching on and off of each heater is nearly ten thousand times assuming that each control period is 30s and the design life is 10 years. In contrast, when the segmented proportional control algorithm of the present embodiment is adopted, if the required heating power is reasonably designed, the number of times of switching operations of the corresponding heater can be reduced by approximately thirty million times, and the reliability of the design of the thermal control system can be significantly improved.
As described above, the control unit 101 of the present embodiment has an advantage that the temperature control is gentle at the time of the small duty ratio and quick at the time of the large duty ratio by using the switching control algorithm and the segment ratio control algorithm in combination. In addition, in the control process, the power application is gentle, so that the overshoot condition of pulse type control in the traditional proportional control algorithm can be effectively reduced, and the stability of system temperature control is improved. And the switching times of each heater in the control process can be obviously reduced, and the design reliability of the system is further improved. In addition, the influence of the internal and external thermal influence, the self heat consumption change of the temperature-controlled equipment and the like on the temperature stability of the temperature-controlled area can be eliminated.
In the present embodiment, the voltage value, which is the detection value obtained by sampling, is used as it is in the system control performed by the control unit 101 without converting it into temperature data and then calculating it, whereby the amount of calculation by the star software can be reduced and the temperature control accuracy of the system can be improved. The reason is that the temperature data and voltage value conversion formula usually needs polynomial or power exponent calculation, the conversion process occupies more software resources, and the temperature control accuracy of the system is affected after the temperature data and voltage value are converted for many times.
Fig. 4 is a block diagram schematically illustrating a temperature stability controller 1a according to a modification of the temperature stability controller 1 according to embodiment 1 of the present invention.
As shown in fig. 4, the temperature stability controller 1a further includes a pre-buried hot pipe portion 401. The embedded heat pipe portion comprises a plurality of linear embedded heat pipe components which are arranged below the controlled temperature device 2 in parallel in a mode of crossing the controlled temperature device 2. Here, 4 pre-buried heat pipe members 401a to 401d are taken as an example for explanation, but not limited thereto. The embedded heat pipe members 401a to 401d may be heat transfer devices such as L-shaped heat pipes or U-shaped heat pipes, and the shape and number thereof may be adjusted according to the size of the mounting substrate 3 and the positions of the temperature-controlled device 2, the heating unit 301, and the like.
The pre-buried hot pipe portion 401 is preheated according to the output of the control portion 101, so that a heat path capable of efficiently transferring heat is formed between the active temperature control region formed by the heating portion 301 and the temperature detection portion 201, and the response relationship between the heating portion 301 and the temperature detection portion 201 is further improved. In addition, through setting up pre-buried hot tube portion 401, can more effectively equalize the difference in temperature between each region and the equipment, reduce local difference in temperature and realize the isothermal to can further improve the higher temperature stability control of spacecraft specific area.
As shown in fig. 1, the heat insulating device 4 is disposed on the mounting substrate 3 so as to cover the temperature stability controller 1 and the temperature controlled device 2. The heat insulation device 4 is a multilayer structure, and is formed by arranging a plurality of units of aluminizers and terylene net towels at intervals, and the thickness (the number of units) of the heat insulation device can be set according to specific heat insulation requirements, and is not limited to a fixed number of units.
In addition, it is preferable that both the inner and outer surfaces of the heat insulation device 4 are provided with the polyester aluminized film, so that heat leakage of system radiation is reduced, and the temperature control stability of the temperature stability control device 100 for a spacecraft is improved. In the arrangement of the thermal insulation means, porous materials such as fibrous materials, foam materials and the like may also be used.
Fig. 5 is an enlarged schematic view of the vicinity of the end of the mounting substrate 3 in fig. 1. As shown in the drawing, the mounting substrate 3 of the temperature stability control device 100 for a spacecraft is fixed to the device mounting plate 6 by the connecting member 5.
The connecting member 5 is fastened to the inner wall surfaces of the mounting holes of the mounting board 3 and the device mounting plate 6. The connecting member 5 includes a screw 7 and a screw bushing 8. The screw 7 is screwed to the screw bush 8 and the inner wall surface of the mounting hole of the device mounting plate 6, and the head thereof does not contact the mounting board 3.
The screw bushing 8 is inserted between the screw 7 and the mounting board 3, and has an upper surface and a lower surface of an upper end portion having an annular structure in plan view, which are respectively in contact with a head portion of the screw 7 and a surface of the mounting board 3, and side wall portions which are respectively in contact with a cylindrical surface of a screw of the screw 7 and an inner wall surface of a mounting hole of the mounting board 3. The mounting substrate 3 is through-hole press-connected by a screw 7 via a screw bushing 8. Through setting up screw bush 8, can avoid screw 7 and mounting substrate 3 to carry out direct contact to play thermal-insulated effect, and improve the temperature control stability of temperature stability controlling means 100 for the spacecraft.
Preferably, the screw 7 is made of a high-strength, low-thermal-conductivity titanium alloy material, and the screw bushing 8 is made of an epoxy resin material, such as a glass steel material.
By connecting the fixed mounting board 3 and the device mounting board 6 by the connecting member 5, the screws 7 can be prevented from contacting the device mounting board 6, and heat conduction and heat leakage of the system can be effectively reduced. In addition, other connecting members may be used to fix the temperature stability control device 100 for a spacecraft to the device mounting plate 6.
It is preferable to provide the heat insulating member directly on the mounting substrate 3 and the device mounting board 6, thereby further reducing the heat conductive coupling between the mounting substrate 3 and the outside.
As described above, according to embodiment 1, the thermal conduction and radiation coupling with the star is reduced by providing the thermal insulation device 4 and the connection member 5, and active thermal control is performed using a control algorithm, thereby enabling higher temperature stability control of a specific region of the spacecraft.
The embodiments of the present invention have been described above, and the embodiments are only illustrated as examples and do not limit the scope of the invention. The embodiments may be implemented in various forms, and various omissions, substitutions, and changes may be made without departing from the spirit of the invention. The embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalent scope thereof.
Industrial applicability of the invention
The high-temperature stability temperature control device and the high-temperature stability temperature control method for the spacecraft have the advantages of simplicity and convenience in implementation, light weight, high control stability, small occupied space software resources and the like, and can be widely applied to the fields of aviation, aerospace and the like, but are not limited to the fields.
Claims (15)
1. A temperature stability control device for a spacecraft, comprising: a temperature stability controller, a heat insulating device, and a mounting substrate,
the temperature stability controller is used for controlling the temperature stability of a specific area and is arranged on the mounting substrate,
the heat insulating device is fixed to the mounting substrate so as to cover the temperature stability controller and the temperature-controlled device,
the temperature stability controller includes:
a temperature detection unit having a plurality of temperature detection elements for detecting temperatures of respective positions thereof and outputting temperature detection values,
a heating section having a plurality of heaters and heating the heaters according to a command from the control section,
a control unit that receives the temperature detection value transmitted from the temperature detection unit, compares the temperature detection value with a set value, and calculates a control value using the comparison result to control the heating unit,
the control part randomly selects the heaters in different sections according to the size of the control value and the number of the heaters and sets corresponding switch states and time in a mode of ensuring that the heating power required by the next control period is unchanged,
wherein the control part comprises a heater setting module, a temperature effectiveness judging module, a data processing module, a switch control module and a segment proportion control module,
the heater setting module sets the plurality of heater flags to enable/disable states according to a setting command inputted from the outside, and outputs the setting result to the segment ratio control module,
the temperature validity judging module sequentially instructs the temperature detecting elements to detect in each sampling interval, compares the temperature detecting value with a preset valid temperature interval, outputs the temperature detecting value to the data processing module as a valid temperature sampling value when the temperature detecting value is judged to be in the valid temperature interval, and eliminates the temperature detecting value and automatically switches to the next temperature detecting value to judge again when the temperature detecting value is judged not to be in the valid temperature interval,
the data processing module judges whether the effective temperature sampling value is positioned in a preset proportional control interval, under the condition that the effective temperature sampling value is positioned in the proportional control interval, the data processing module calculates the theoretical duty ratio of the next control period and outputs the theoretical duty ratio to the segmented proportional control module,
when the data processing module judges that the effective temperature sampling value is less than or equal to the lower limit of the temperature control threshold value of the proportional control interval, the switch control module closes all the heaters in the enabling state,
when the data processing module judges that the effective temperature sampling value is greater than or equal to the upper limit of the temperature control threshold value of the proportional control interval, the switch control module starts all the heaters in the enabling state,
and the segmented proportion control module randomly selects the heaters in the enabled state in a manner of ensuring that the heating power required by the next control cycle is not changed according to the received theoretical duty ratio of the next control cycle and the number of the heaters in the enabled state, and sets corresponding on-off states and time.
2. A temperature stability control apparatus for a spacecraft as claimed in claim 1,
the temperature validity judging module instructs the temperature detecting elements to detect within each sampling interval at a certain sampling speed, and compares only the intermediate value of the temperature detecting values obtained every second with the valid temperature interval.
3. A temperature stability control apparatus for a spacecraft as claimed in claim 2,
for each of the last k seconds of the sampling period, the temperature validity judging module respectively obtains k intermediate values, calculates an arithmetic mean value of the k intermediate values, and compares the calculated arithmetic mean value with the valid temperature interval, where k is a natural number.
4. A temperature stability control apparatus for a spacecraft as claimed in claim 2,
the sampling rate was 3 times per second.
5. A temperature stability control apparatus for a spacecraft as claimed in claim 3,
k＝3。
6. a temperature stability control apparatus for a spacecraft as claimed in claim 1,
the control unit calculates the temperature value directly using the acquired temperature detection value, i.e., the voltage value.
7. A temperature stability control apparatus for a spacecraft as claimed in claim 1,
the temperature detection elements are configured in a mode of being close to each other and are backups of each other, and a temperature measurement thermistor or a platinum resistor is adopted.
8. A temperature stability control apparatus for a spacecraft as claimed in claim 1,
the heat insulation device is a multilayer structure formed by arranging a plurality of units of aluminizers and terylene net towels at intervals.
9. A temperature stability control apparatus for a spacecraft as claimed in claim 8,
the inner surface and the outer surface of the heat insulation device are both provided with polyester aluminized films.
10. A temperature stability control apparatus for a spacecraft as claimed in claim 1,
fixing the mounting substrate to the mounting plate with a connecting member,
the connecting member includes a screw, and a screw bushing interposed between the screw and the mounting substrate.
11. A temperature stability control apparatus for a spacecraft as claimed in claim 10,
the screw is made of a titanium alloy material, and the screw bushing is made of an epoxy resin material.
12. A temperature stability control apparatus for a spacecraft as claimed in claim 1,
the temperature stability controller is also provided with a pre-buried hot pipe part,
the embedded heat pipe part comprises a plurality of embedded heat pipe components which are arranged below the controlled temperature device in a mode of crossing the controlled temperature device.
13. A temperature stability control apparatus for a spacecraft as claimed in claim 12,
the embedded heat pipe component adopts a linear heat pipe, an L-shaped heat pipe or a U-shaped heat pipe.
14. A temperature stability control device for a spacecraft is characterized by comprising a temperature stability controller, a mounting substrate and a heat insulation device,
the temperature stability controller is used for controlling the temperature stability of a specific area, is arranged on the mounting substrate and is provided with a temperature detection part, a heating part and a control part,
the heat insulating device is fixed to the mounting substrate so as to cover the temperature stability controller and the temperature-controlled device,
the temperature detection part has a plurality of temperature detection elements for respectively detecting the temperature of the position and outputting the temperature detection value,
this temperature stability controlling means for spacecraft includes: a heating step of heating the plurality of heaters of the heating portion in accordance with an instruction of the control portion; a control step of comparing the temperature detection value with a set value and calculating a control value using the temperature detection value to control the heating portion,
and randomly selecting the heaters at intervals according to the size of the control value and the number of the heaters and setting corresponding switch states and time in a mode of ensuring that the heating power required by the next control cycle is unchanged.
15. A temperature stability control apparatus for a spacecraft as claimed in claim 14,
the control step is as follows:
a heater setting step of setting the plurality of heaters to enable/disable states respectively according to a setting command inputted from the outside and outputting the setting result;
a temperature validity judging step of sequentially instructing the plurality of temperature detection elements to detect in each sampling interval, comparing a temperature detection value with a preset valid temperature interval, outputting the temperature detection value as a valid temperature sampling value when the temperature detection value is judged to be in the valid temperature interval, and automatically switching to the next temperature detection value to judge again when the temperature detection value is judged not to be in the valid temperature interval;
a data processing step of judging whether the effective temperature sampling value is in a preset proportional control interval, and calculating and outputting the theoretical duty ratio of the next control period under the condition that the effective temperature sampling value is judged to be in the proportional control interval;
a switch control step of turning off all the heaters in the enabled state when the effective temperature sampling value is judged to be less than or equal to the lower limit of the temperature control threshold value of the proportional control interval, and turning on all the heaters in the enabled state when the effective temperature sampling value is judged to be greater than or equal to the upper limit of the temperature control threshold value of the proportional control interval;
and a step of controlling the section proportion, which randomly selects the heaters in the enabled state by sections and sets corresponding switch states and time according to the received theoretical duty ratio of the next control cycle and the number of the heaters in the enabled state in a mode of ensuring that the heating power required by the next control cycle is not changed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810223265.6A CN108490775B (en) | 2018-03-19 | 2018-03-19 | Temperature stability control device and control method for spacecraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810223265.6A CN108490775B (en) | 2018-03-19 | 2018-03-19 | Temperature stability control device and control method for spacecraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108490775A CN108490775A (en) | 2018-09-04 |
| CN108490775B true CN108490775B (en) | 2020-12-08 |
Family
ID=63339910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810223265.6A Active CN108490775B (en) | 2018-03-19 | 2018-03-19 | Temperature stability control device and control method for spacecraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108490775B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111385925B (en) * | 2018-12-29 | 2022-04-19 | 佛山市顺德区美的电热电器制造有限公司 | Electromagnetic cooking appliance and control method thereof |
| CN109781302A (en) * | 2019-02-26 | 2019-05-21 | 北京空间飞行器总体设计部 | A kind of loading temperature health control method for inertial space observation satellite |
| CN110933785A (en) * | 2019-11-28 | 2020-03-27 | 中国空间技术研究院 | Intelligent temperature control heater |
| CN111959830B (en) * | 2020-08-24 | 2021-10-15 | 中国科学院微小卫星创新研究院 | Thermal control system and method for satellite high-precision optical load mounting platform |
| CN112068276A (en) * | 2020-08-24 | 2020-12-11 | 中国科学院长春光学精密机械与物理研究所 | High-precision wide-environment-adaptability optical lens |
| CN113237681A (en) * | 2021-04-26 | 2021-08-10 | 北京卫星环境工程研究所 | Vacuum thermal test spacecraft levelness measuring device |
| CN113625803A (en) * | 2021-08-30 | 2021-11-09 | 上海卫星工程研究所 | Variable-power high-precision temperature control method, system, medium and equipment for spacecraft |
| CN113885612A (en) * | 2021-10-12 | 2022-01-04 | 哈尔滨工大卫星技术有限公司 | Spacecraft and autonomous heating control device thereof |
| CN114489177B (en) * | 2021-12-30 | 2023-05-09 | 重庆阿泰可科技股份有限公司 | Temperature control method |
| CN116643600B (en) * | 2023-07-25 | 2023-10-03 | 中国船舶集团有限公司第七〇七研究所 | Inertial navigation temperature control method and system based on dynamic instruction algorithm |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102830733A (en) * | 2012-09-10 | 2012-12-19 | 陈婷 | Multiposition switch intelligent temperature control device and control method of multiposition switch intelligent temperature control device |
| CN103279157A (en) * | 2013-06-03 | 2013-09-04 | 北京空间飞行器总体设计部 | Temperature controlling method for satellite-borne rubidium clock temperature-control cabin |
| CN103488216A (en) * | 2013-09-25 | 2014-01-01 | 北京卫星环境工程研究所 | Temperature control method of solar cell panel |
| CN104571217A (en) * | 2014-11-14 | 2015-04-29 | 中国科学院力学研究所 | Thermal vacuum test temperature control method and system for spacecraft |
| CN104731131A (en) * | 2014-11-14 | 2015-06-24 | 中国科学院力学研究所 | Spacecraft thermal vacuum testing temperature control method |
| CN105383714A (en) * | 2015-11-27 | 2016-03-09 | 上海卫星工程研究所 | Satellite borne active temperature control system |
| RU162862U1 (en) * | 2015-07-01 | 2016-06-27 | Российская Федерация, от имени которой выступает Федеральное космическое агентство | SPACE EQUIPMENT THERMAL CONTROL SYSTEM |
| CN106647873A (en) * | 2016-07-20 | 2017-05-10 | 北京卫星环境工程研究所 | Temperature control method of wave-absorbing external heat flow simulation system for large-scale spacecraft antenna performance test |
| CN107634279A (en) * | 2017-07-27 | 2018-01-26 | 上海卫星工程研究所 | A kind of in-orbit thermal controls apparatus of lithium battery |
-
2018
- 2018-03-19 CN CN201810223265.6A patent/CN108490775B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102830733A (en) * | 2012-09-10 | 2012-12-19 | 陈婷 | Multiposition switch intelligent temperature control device and control method of multiposition switch intelligent temperature control device |
| CN103279157A (en) * | 2013-06-03 | 2013-09-04 | 北京空间飞行器总体设计部 | Temperature controlling method for satellite-borne rubidium clock temperature-control cabin |
| CN103488216A (en) * | 2013-09-25 | 2014-01-01 | 北京卫星环境工程研究所 | Temperature control method of solar cell panel |
| CN104571217A (en) * | 2014-11-14 | 2015-04-29 | 中国科学院力学研究所 | Thermal vacuum test temperature control method and system for spacecraft |
| CN104731131A (en) * | 2014-11-14 | 2015-06-24 | 中国科学院力学研究所 | Spacecraft thermal vacuum testing temperature control method |
| RU162862U1 (en) * | 2015-07-01 | 2016-06-27 | Российская Федерация, от имени которой выступает Федеральное космическое агентство | SPACE EQUIPMENT THERMAL CONTROL SYSTEM |
| CN105383714A (en) * | 2015-11-27 | 2016-03-09 | 上海卫星工程研究所 | Satellite borne active temperature control system |
| CN106647873A (en) * | 2016-07-20 | 2017-05-10 | 北京卫星环境工程研究所 | Temperature control method of wave-absorbing external heat flow simulation system for large-scale spacecraft antenna performance test |
| CN107634279A (en) * | 2017-07-27 | 2018-01-26 | 上海卫星工程研究所 | A kind of in-orbit thermal controls apparatus of lithium battery |
Non-Patent Citations (2)
| Title |
|---|
| 智能温控技术在航天器部件常压高低温试验中的应用;左洋 等;《真空与低温》;20150430;第21卷(第2期);全文 * |
| 航天器精密控温技术研究现状;童叶龙 等;《航天返回与遥感》;20160430;第37卷(第2期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108490775A (en) | 2018-09-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108490775B (en) | Temperature stability control device and control method for spacecraft | |
| US10908196B2 (en) | System and method for controlling power to a heater | |
| CN103412592B (en) | A kind of inertial measurement system three grades of temperature control systems | |
| JP6059046B2 (en) | Defect detection system and defect detection method | |
| US10161995B2 (en) | Temperature control system and method thereof | |
| EP3879564B1 (en) | System and method for controlling power to a heater | |
| CN103677011B (en) | One is applicable to extend blackbody wide temperature range control system under vacuum condition | |
| Ohta et al. | Boiling experiments under microgravity conditions | |
| CN109116881A (en) | A kind of temprature control method and system based on PID adjusting | |
| KR20160104034A (en) | Method and device for determining the heat loss coefficient of a room | |
| Guo et al. | Experimental study of the thermal performance of a neon cryogenic loop heat pipe | |
| US10253991B2 (en) | In-line heated solar thermal storage collector | |
| GB2561295A (en) | Thermocouple type liquid level measurement system | |
| RU2586783C1 (en) | Method of controlling thermal control system of radiation panels of spacecraft at failures and failures of temperature sensors | |
| Basak et al. | Performance evaluation of material and comparison of different temperature control strategies of a Guarded Hot Box U-value Test Facility | |
| Ababneh et al. | Demonstration of Copper-Water Heat Pipes Embedded in High Conductivity (HiK™) Plates in the Advanced Passive Thermal eXperiment (APTx) on the International Space Station | |
| CN111370805A (en) | Lithium battery temperature control method adopting non-independent thermal design | |
| US9766422B1 (en) | Optical membrane heating and temperature control method and apparatus | |
| RU2322375C2 (en) | Method of temperature control of thermal tubes with electric heaters on spacecraft instrument panels | |
| Thomas et al. | Transient thermal response of a guarded-hot-plate apparatus for operation over an extended temperature range | |
| Oriti | Extended Operation of Stirling Convertors at NASA Glenn Research Center | |
| JP2019521278A (en) | Temperature control method of electric propulsion system | |
| Okamoto et al. | Initial Evaluation of On-orbit Experiment of Loop Heat Pipe on ISS | |
| Jin et al. | Data analysis and correlation for thermal balance test on a micro-satellite model | |
| Lee et al. | Thermal Control for the Ground Simulation of a Space IR Sensor System |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |