CN110127086B - Patrol device fault-tolerant autonomous awakening control method suitable for moon-back environment - Google Patents
Patrol device fault-tolerant autonomous awakening control method suitable for moon-back environment Download PDFInfo
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- CN110127086B CN110127086B CN201910362928.7A CN201910362928A CN110127086B CN 110127086 B CN110127086 B CN 110127086B CN 201910362928 A CN201910362928 A CN 201910362928A CN 110127086 B CN110127086 B CN 110127086B
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- 238000000034 method Methods 0.000 title claims abstract description 47
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- 238000007689 inspection Methods 0.000 claims abstract description 50
- 238000005259 measurement Methods 0.000 claims abstract description 12
- 238000004804 winding Methods 0.000 claims description 70
- 230000008569 process Effects 0.000 claims description 24
- 238000003860 storage Methods 0.000 claims description 18
- 230000001351 cycling effect Effects 0.000 claims description 15
- 230000007480 spreading Effects 0.000 claims description 8
- 230000003247 decreasing effect Effects 0.000 claims description 2
- 230000005059 dormancy Effects 0.000 abstract description 4
- 230000006870 function Effects 0.000 description 24
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- 239000011888 foil Substances 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/222—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles for deploying structures between a stowed and deployed state
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
Abstract
A patrol instrument fault-tolerant autonomous awakening control method suitable for a moon-back environment comprises the steps that firstly, an patrolling instrument central control computer A and a central control computer B respectively carry out awakening parameter setting before dormancy, the central control computer A and the central control computer B are mutually backups, and then the sun wing of the patrol instrument is controlled to be unfolded according to awakening parameters when the patrol instrument is awakened; the applicable conditions of the solar wing unfolding of the inspection device comprise that the inspection device mechanism has no fault, the inspection device is blocked by measurement and control, the inspection device mechanism has a rotary-change fault, the inspection device mechanism is blocked by movement, and the inspection device center controls a computer to cut or reset.
Description
Technical Field
The invention relates to the technical field of autonomous management of a lunar back environment patrolling device platform, in particular to a fault-tolerant autonomous awakening control method of a patrolling device, which is suitable for a lunar back environment.
Background
The Chang' e four-number detector realizes the first soft landing of the back of the moon of human beings and carries out the in-situ lunar exploration and patrol exploration under the support of the relay link of the relay satellite. Compared with the landing zone of Chang 'e' three, the landform of the landing zone of Chang 'e' four is more complicated, uncertain factors such as landform sheltering and the like may exist when the patrol device works on the lunar surface, and the uncertain factors may cause the condition that the power of the patrol device is unbalanced when the patrol device wakes up in the moon day. Meanwhile, if uncertain conditions such as mechanism rotation fault, mechanism motion clamping stagnation, central computer cutter cutting or resetting and the like occur when the patrol device is awakened, the solar wing spreading process is limited to influence the energy of the patrol device. In addition, even if the solar wing is normally unfolded, measurement and control can be shielded, so that the detection task of the inspection device is influenced. In order to solve the related problems, the invention provides a fault-tolerant autonomous awakening control method of a patrol instrument, which is suitable for a moon-back environment.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides a fault-tolerant autonomous awakening control method of the inspection device suitable for the moon-back environment, and solves the safety risks brought by abnormal conditions such as unbalanced power, mechanism rotation and transformation faults, mechanism work-running faults, computer reset or cutter abnormity, measurement and control shielding and the like in the awakening process of the inspection device.
The technical solution of the invention is as follows: a patrol instrument fault-tolerant autonomous awakening control method suitable for a moon-back environment comprises the following steps:
the first step is as follows: before sleeping, the patrol device center controls a computer A to set wake-up parameters;
the second step is that: before sleeping, the central control computer B of the patrol device performs awakening parameter setting, wherein the central control computer A and the central control computer B are backups of each other;
the third step: controlling the solar wing of the inspection device to be unfolded according to the awakening parameters when the inspection device is awakened; the applicable conditions of the solar wing unfolding of the inspection device comprise that the inspection device mechanism has no fault, the inspection device is blocked by measurement and control, the inspection device mechanism has a rotary-change fault, the inspection device mechanism is blocked by movement, and the inspection device center controls a computer to cut or reset.
And under the fault-free mode of the patrolling device mechanism, the solar wing of the patrolling device is unfolded to a desired angle by using a motor open-loop control mode.
And under the observation and control shielding mode of the inspection device, if the solar wing of the inspection device is shielded and monitored after being unfolded to a desired angle, the solar wing is continuously flattened after waiting, wherein when the observation and control are recovered in the waiting process, the inspection device terminates the flattening process of the solar wing according to a ground instruction.
In the central computer cutting or resetting mode of the inspection tour device, if the computer cutting or resetting occurs in the process of unfolding the solar wing to an expected angle, the solar wing is unfolded according to the residual time to be executed after the computer cutting or resetting.
And under the rotary transformer or mechanism fault mode, the rotary transformer fault of the inspection device mechanism and the movement jamming of the inspection device mechanism are included, the inspection device is switched to a backup winding or B parts of motor controllers to unfold the solar wing, and when the current of the solar wing meets the requirement in the unfolding process of the solar wing of the inspection device, the unfolding process is quitted.
The inspection device mechanism has no fault mode, the solar wing mechanism of the inspection device is normal, the solar wing is rotated and changed normally, and the solar wing is unfolded by using a normal awakening control flow, and the inspection device mechanism specifically comprises the following steps:
(1) when the patrol device sun wing unfolding completion mark read by the computer during initial power-on is not completed, completing the mark of the first stage of sun wing unfolding, enabling the sun wing to be unfolded, and delaying the waiting time T for the sun wing to be unfolded1wWinding used by first rotation of solar wing and time T to be executed in first stage of solar wing unfolding1Assigning corresponding important data, and when the solar wing unfolding completion mark read by the computer reset or the cutter is not completed, retrieving the solar wing unfolding first-stage completion mark, the solar wing flattening enabling mark and the solar wing flattening delay waiting time T in the important data1wWinding used by first rotation of solar wing and time T to be executed in first stage of solar wing unfolding1；
(2) Verifying a motor controller of the inspection device, powering on and delaying a motor of the inspection device mechanism, and if the first stage completion mark of the solar wing unfolding is incomplete, turning to the step (3), otherwise, turning to the step (6);
(3) reading the current angle theta of the sun wing0If 0 DEG-theta is less than or equal to 0 DEG0-θcalTheta is less than or equal to 1 degree or less than or equal to 359 degrees0-θcalTurning to the step (4) when the angle is less than or equal to 360 degrees;
(4) sending a motor open-loop control instruction to a winding used for the first rotation of the solar wing for T1While at 2s delay intervals, the cycle n is T12 times, per cycle: (41) if n is larger than 0, the solar wing unfolding function completion mark is set as incomplete, and the solar wing unfolding first stage completion mark is set as incomplete; (42) n is n-1, the time for the first stage of the solar wing unfolding is reduced by 1 until n is 0, and the first time the solar wing is unfoldedA winding used for rotation sends a zero-speed instruction;
(5) reading the sun wing angle theta1If theta*-5°≤θ1-θcal≤θ*If the angle is +5 degrees, the completion mark of the first stage of the solar wing unfolding is set to be completed, and the step (6) is carried out, if the angle is theta1-θcal＞θ*If the sun wing unfolding function is finished at +5 degrees, the sun wing unfolding function completion mark is set to be finished, the first stage of sun wing unfolding completion mark is set to be finished, the sun wing flattening enabling mark is forbidden, the autonomous awakening control task is finished, and otherwise, the mechanism fault awakening control is switched to;
(6) if the solar wing flattening enabling mark is enabled, the step (7) is carried out, otherwise, the solar wing unfolding function completion mark is set to be completed, the solar wing unfolding first-stage completion mark is set to be completed, the solar wing flattening enabling mark is disabled, and the autonomous awakening control task is finished;
(7) if theta is greater than theta*If the angle is less than 180 degrees, the step (8) is carried out, otherwise, a solar wing unfolding function completion mark is set to be completed, a solar wing unfolding first-stage completion mark is set to be completed, a solar wing flattening enabling mark is set to be forbidden, and the autonomous awakening control task is finished;
(8) and (3) cycling n times by taking 2s as a delay interval, wherein in each cycle: (81) if n is larger than 0, the solar wing unfolding function completion mark is set to be unfinished, the solar wing unfolding first stage completion mark is set to be finished, the solar wing flattening enabling mark is set to be enabled, the time to be executed in the solar wing unfolding first stage is set to be 0, and the solar wing flattening delay waiting time T is set to be T1wEvery 0.5 hours, reduce by 1; (82) until n is equal to 0, go to step (9);
(9) reading the sun wing angle theta2If theta*-5°≤θ2-θcal≤θ*If the solar wing flattening enable mark is enable at +5 degrees, the step (10) is carried out, otherwise, the solar wing unfolding function completion mark is set to be completed, the solar wing unfolding first stage completion mark is completed, the solar wing flattening enable mark is disabled, and the autonomous awakening control task is finished;
(10) sending a motor closed-loop control instruction to a winding used for the first rotation of the solar wing, wherein the angle is 180 degrees + thetacalAnd-0.3 degrees, setting a solar wing unfolding function completion mark as completion, setting a solar wing unfolding first stage completion mark as completion, setting a solar wing flattening enabling mark as forbidden energy, and finishing the autonomous awakening control task.
When the solar wing rotary-change fault of the inspection device or the central control computer resets the cutter, the rotary-change fault (computer reset cutter) awakening control flow comprises the following steps:
(11) sending a motor open-loop control instruction to a winding used for the first rotation of the solar wing, wherein the time is the time to be executed in the first stage of the unfolding of the solar wing;
(12) cycling n times with 2s as delay interval and within each cycle: (121) if n is larger than 0, the solar wing unfolding function completion mark is set as incomplete, and the solar wing unfolding first stage completion mark is set as incomplete; (122) when n is equal to n-1, the first stage of the solar wing unfolding is to be executed by subtracting 1, entering the next cycle, and sending a zero-speed instruction to a winding used by the solar wing for the first rotation until n is equal to 0;
(13) collecting solar wing current I+YCharging current I of the storage batterydIf I is+Y<I1And Id<I2If the solar wing unfolding function is finished, the solar wing unfolding first stage is finished, the solar wing unfolding enabling mark is disabled, and the autonomous awakening control task is finished;
(14) sending a motor open-loop control instruction to a backup winding, wherein the time is the time to be executed in the first stage of solar wing unfolding;
(15) and (3) cycling n times by taking 2s as a delay interval, wherein in each cycle: (151) if n is larger than 0, the solar wing unfolding function completion mark is set as incomplete, the solar wing unfolding first stage completion mark is set as incomplete, and a winding used for the first rotation of the solar wing is set as a standby winding; (152) collecting solar wing current I+YCharging current I of the storage batterydIf I is+Y>I1Or Id>I2If the sun wing unfolding function is finished, the sun wing unfolding function is set to be finished, and the first stage of sun wing unfolding is finishedIn order to finish, the solar wing flattening enabling mark is forbidden, the circulation is finished, and the autonomous awakening control task is finished, otherwise, the step (153) is carried out; (153) n is n-1, the time to be executed in the first stage of the solar wing unfolding is reduced by 1 until n is 0, and a zero-speed instruction is sent to a backup winding;
(16) if the current motor controller is A, switching to B, otherwise, setting a solar wing unfolding function completion mark as completion, a solar wing unfolding first-stage completion mark as completion, setting a solar wing flattening enabling mark as forbidden energy, and finishing the autonomous awakening control task;
(17) sending a motor open-loop control instruction to a backup winding, wherein the time is the time to be executed in the first stage of solar wing unfolding;
(18) and (3) cycling n times by taking 2s as a delay interval, wherein in each cycle: (171) if n is larger than 0, the solar wing unfolding function completion mark is set as incomplete, the solar wing unfolding first stage completion mark is set as incomplete, and a winding used for the first rotation of the solar wing is set as a standby winding; (172) collecting solar wing current I+YCharging current I of the storage batterydIf it satisfies I+Y>I1Or Id>I2If yes, a zero-speed instruction is sent to the backup winding, meanwhile, a mechanism motor is sent to be powered off, a solar wing unfolding function completion mark is set to be completed, a solar wing unfolding first-stage completion mark is set to be completed, a solar wing flattening enabling mark is set to be forbidden, circulation is finished, and an autonomous awakening control task is finished, otherwise, the step (173) is carried out; (173) and n is equal to n-1, the first stage of the solar wing unfolding is to reduce the execution time by 1, the next cycle is started until n is equal to 0, a zero-speed instruction is sent to the backup winding, the cycle is ended, and the autonomous awakening control task is ended.
When the solar wing mechanism of the inspection tour device breaks down, the mechanism fault awakening control comprises the following procedures:
(19) collecting solar wing current I+YCharging current I of the storage batterydIf I is+Y<I1And Id<I2If the solar wing unfolding function is finished, the step (20) is carried out, otherwise, the solar wing unfolding function completion mark is set to be finished, the solar wing unfolding first stage completion mark is set to be finished, the solar wing flattening enabling mark is set to be forbidden, and the solar wing unfolding function is automatically calledThe wake control task is finished;
(20) sending a motor open-loop control instruction to a backup winding, wherein the time is the time to be executed in the first stage of solar wing unfolding;
(21) and (3) cycling n times by taking 2s as a delay interval, wherein in each cycle: (211) if n is larger than 0, the solar wing unfolding function completion mark is set as incomplete, the solar wing unfolding first stage completion mark is set as incomplete, and a winding used for the first rotation of the solar wing is set as a standby winding; (212) collecting solar wing current I+YCharging current I of the storage batterydIf I is+Y>I1Or Id>I2If the solar wing unfolding enabling mark is forbidden, the circulation is finished, and the autonomous awakening control task is finished; (213) n-1, subtracting 1 from ZY4, entering the next cycle until n is 0 and sending a zero-speed command to the backup winding;
(22) reading the sun wing angle theta3And zero offset theta from the sun wingcalPerforming an operation if theta*≤θ3-θcalIf the solar wing unfolding function completion mark is set to be completed, the solar wing unfolding first stage completion mark is set to be completed, the solar wing flattening enabling mark is set to be forbidden, the autonomous awakening control task is finished, otherwise, a motor open-loop control command is sent to the backup winding, and the time is the time to be executed in the solar wing unfolding first stage;
(23) and (3) cycling n times by taking 2s as a delay interval, wherein in each cycle: (231) if n is larger than 0, the solar wing unfolding function completion mark is set as incomplete, the solar wing unfolding first stage completion mark is set as incomplete, and a winding used for the first rotation of the solar wing is set as a standby winding; (232) collecting solar wing current I+YCharging current I of the storage batterydIf I is+Y>I1Or Id>I2Then a zero-speed instruction is sent to the backup winding, and simultaneously the motor of the mechanism is powered off, the solar wing unfolding function completion mark is set to be completed, the solar wing unfolding first stage completion mark is set to be completed, the solar wing flattening enabling mark is set to be disabled,ending circulation and autonomously waking up the control task to end, otherwise, turning to the step (233); (233) and n is equal to n-1, ZY4 is decreased by 1, the next cycle is started until n is equal to 0, a zero-speed instruction is sent to the backup winding, and the autonomous wake-up control task is finished.
Compared with the prior art, the invention has the advantages that:
(1) the invention solves the risks brought by abnormal problems of unbalanced power, mechanism rotation and transformation faults, mechanism work-running faults, computer resetting or cutting, measurement and control shielding and the like in the wake-up process of the patrol device through the fault-tolerant autonomous wake-up and unfolding + Y solar wing process of the ChangE tour device, which has the advantages of high reliability and high fault tolerance;
(2) compared with the prior art, the awakening parameter can be stored when power failure occurs, the expected unfolding angle of the solar wing can be adjusted, important data are stored in the key parameters in the unfolding process of the solar wing, if the computer is reset or the cutter can still read the important data to carry out normal unfolding of the solar wing, if abnormal conditions such as a fault of a rotating mechanism and the like occur in the unfolding process of the solar wing, the automatic switching can still be carried out to the backup winding and the B part of motor controller to carry out unfolding of the solar wing, and whether the solar wing is continuously unfolded or not can be determined according to the monitoring and shielding conditions after the solar wing is.
Drawings
Fig. 1 is a flow chart of a patrol instrument fault-tolerant autonomous wake-up control method suitable for a moon-back environment.
Detailed Description
The patrol device in the moon back environment injects awakening related parameters into the EEPROM memory of the central control computer through ground control before dormancy, reads the awakening related parameters in the EEPROM memory after the patrol device is powered on, and deploys the solar wings according to parameter judgment and certain rules. After entering the process of unfolding the solar wing, corresponding key data are stored into important data, and the solar wing can still be normally unfolded after the central control computer cuts or resets.
The invention discloses a patrol instrument fault-tolerant autonomous awakening control method suitable for a moon-back environment, which comprises the following steps of:
the first step is as follows: before dormancy, the patrol device center controls a computer A to set the awakening parameters in an EEPROM memory;
the second step is that: before dormancy, the patrol device center controls a computer B to set awakening parameters in an EEPROM memory;
the third step: after the patrol device is awakened, the central control computer reads important data or awakening parameters in an EEPROM memory;
the fourth step: controlling the solar wing to unfold according to important data or awakening parameters; in order to meet the energy requirement and the thermal control requirement after the patrol device is awakened, the control strategy needs to be considered to still ensure the solar wing to be unfolded under the abnormal conditions of mechanism rotation and transformation fault, mechanism motion clamping stagnation, central computer cutter cutting or resetting and the like, and the following control flow can be adopted.
The fifth step: normal conditions are as follows: unfolding the solar wing to a desired angle by using a motor open-loop control mode;
and a sixth step: measurement and control shielding: if the solar wing is shielded for measurement and control after being unfolded to a desired angle, the solar wing is flattened after waiting for a period of time, and if the measurement and control are recovered in the waiting process, the flattening process of the solar wing is stopped at any time;
the seventh step: computer cutting or resetting: when the computer cutter or reset occurs in the process of unfolding the solar wing to the expected angle, the solar wing is unfolded according to the residual time to be executed.
Eighth step: rotation or mechanism failure: and switching to a backup winding or a B part of motor controller to unfold the solar wing, wherein the current of the solar wing meets the requirement in the unfolding process and exits the unfolding process. The method of the present invention will be explained and explained in more detail with reference to the accompanying drawings, and fig. 1 is a flow chart of a fault-tolerant autonomous wake-up control method for a night patrol device suitable for a moon-back environment.
When the solar wing mechanism of the inspection tour device is normal and the solar wing is rotated and changed normally, the + Y solar wing is unfolded by using a normal awakening control flow:
1. if the sun wing spreading completion flag in the EEPROM memory read by the computer initially powered on is not completed, setting the + Y sun wing spreading function completion flag ZY1 to be 0x55 incomplete, and assigning the corresponding value in the EEPROM memory to the + Y sun wing spreading first stage completion flag (spreading to a desired angle) ZY2, + Y sun wing spreading enabling flag ZY3, + Y sun wing spreadingDelay latency T1wThe winding ZY6 used by the ZY5 and the + Y sun wing for the first rotation, the time ZY4 to be executed in the first stage of the + Y sun wing unfolding is set as T1(T1The time required for unfolding to a desired angle at a fixed speed) is transferred to the step 2; if the solar span extension completion flag in the important data read by the computer reset or the cutter is not completed, important data ZY1, ZY2, ZY3, ZY4, ZY5 and ZY6 are retrieved and the step 2 is carried out;
2. judging the current motor controller, if the current motor controller is A, judging the communication state code of the A, if the communication is normal, executing the step 3, otherwise, switching to the motor controller of the B, delaying for 1s, and executing the step 3; if the number of the current motor controller shares is B, clearing the communication state code of the current motor controller shares, and executing the step 3; (if the launch + Y solar foil mission is initiated by restoring vital data, skip this step);
3. sending the important data to the motor controller; (if the launch + Y solar foil mission is initiated by restoring vital data, skip this step);
4. powering up a motor of the patrolling device mechanism;
5. the motor of the inspection device mechanism is delayed for 1 s;
6. if the mark of the completion of the first stage of the + Y solar wing unfolding is not completed, executing the step 7), otherwise, executing the step 11);
7. reading the current angle theta of the Y solar wing0If theta is more than or equal to 0 DEG0-θcalTheta is less than or equal to 1 degree or less than or equal to 359 degrees0-θcalIf the angle is less than or equal to 360 degrees, executing the step 8), otherwise, jumping to the step 16) to execute;
8. sending a motor open-loop control instruction to a winding corresponding to ZY6, and controlling the speed to be 11 gears and the time to be T1；
9. Cycling n times (n ═ T) with 2s as delay interval12(ZY4 ═ 2n), in each cycle:
a) if n is more than 0, ZY1 is set to be 0x55, ZY2 is set to be 0x 55;
b) n-1, subtracting 1 from ZY4 (ZY4 is less than or equal to 0, ZY4 is equal to 0), and entering the next cycle;
c) if n is equal to 0, sending a zero-speed command to a winding corresponding to ZY 6;
10. reading sun wing angleθ1If theta*-5°≤θ1-θcal≤θ*+5 °, setting ZY2 to 0xAA, writing it into EEPROM memory, and executing step 11); otherwise if theta1-θcal>θ*+5 °, setting ZY1 as 0xAA, ZY2 as 0xAA, ZY3 as 0x55, and skipping to step 30); otherwise, jumping to step 24);
11. judging whether the solar wing flattening enabling mark is enabled, if so, carrying out the next step, otherwise, setting ZY1 as 0xAA, ZY2 as 0xAA, ZY3 as 0x55, and jumping to the step 30);
12. determining theta*Whether the temperature is less than 180 ℃, if so, performing step 13), otherwise, setting ZY1 as 0xAA, ZY2 as 0xAA, and ZY3 as 0x55, and jumping to step 30);
13. at 2s delay intervals, n cycles (n ═ ZY5 × 3600/2/2), and in each cycle:
a) if n is greater than 0, ZY1 is set to 0x55, ZY2 is set to 0xAA, ZY3 is set to 0xAA, ZY4 is set to 0xAA
Setting the value to be 0, reducing 1 in every 0.5 hour of ZY5, and if ZY5 is less than or equal to 0, then ZY5 is equal to 0;
b) entering the next cycle when n is n-1;
c) when n is 0, the loop is exited;
14. reading the sun wing angle theta2If theta*-5°≤θ2-θcal≤θ*+5 degrees and the solar wing flattening enabling mark is enabled, executing step 15); otherwise, setting ZY1 as 0xAA, ZY2 as 0xAA and ZY3 as 0x55, and jumping to the step 30);
15. sending a motor closed-loop control command to a winding corresponding to ZY6, wherein the speed is 11 gears and the angle is 180 degrees plus thetacal0.3 degrees, setting ZY1 as 0xAA, ZY2 as 0xAA and ZY3 as 0x55, and jumping to the step 30);
when the solar wing of the inspection device is in rotary-change fault or the computer is reset to cut, the rotary-change fault (the computer is reset to cut) is used for awakening the control flow to expand the + Y solar wing:
16. sending a motor open-loop control command to a winding corresponding to ZY6, wherein the speed is 11 gears, and the time is ZY 4;
17. cycling n times (n ═ ZY4/2) with 2s delay intervals, and within each cycle:
a) if n is more than 0, ZY1 is set to be 0x55, ZY2 is set to be 0x 55;
b) n-1, subtracting 1 from ZY4 (ZY4 is less than or equal to 0, ZY4 is equal to 0), and entering the next cycle;
c) if n is equal to 0, sending a zero-speed command to a winding corresponding to ZY 6;
18. collecting solar wing current I+YCharging current I of the storage batterydIf I is+Y<I1And Id<I2Otherwise, setting ZY1 as 0xAA, ZY2 as 0xAA and ZY3 as 0x55, and jumping to the step 30);
19. sending a motor open-loop control instruction to a backup winding, wherein the speed is 11 and the time is ZY 4;
20. cycling n times (n ═ T) with 2s as delay interval12(ZY4 ═ 2n), in each cycle:
a) if n is more than 0, ZY1 is set to be 0x55, ZY2 is set to be 0x55, and ZY6 is set to be 0x 26;
b) collecting solar wing current I+YCharging current I of the storage batterydIf I is+Y>I1Or Id>I2Then wind to backup
The group sends a zero-speed command, and simultaneously sends a mechanism motor power-off, sets ZY1 as 0xAA, ZY2 as 0xAA,
ZY3 is 0x55, end the loop, jump to step 30)
c) n-1, subtracting 1 from ZY4 (ZY4 is less than or equal to 0, ZY4 is equal to 0), and entering the next cycle;
d) if n is 0, sending a zero-speed instruction to the backup winding;
21. judging the current motor controller, if the current motor controller is A, switching to the motor controller B, and executing the step 22); otherwise, ZY1 is 0xAA, ZY2 is 0xAA, ZY3 is 0x55, and the step 30) is skipped;
22. sending a motor open-loop control instruction to a backup winding, wherein the speed is 11 and the time is ZY 4;
23. circulating n times with 2s as delay interval, n ═ T12(ZY4 ═ 2n), in each cycle:
a) if n is more than 0, ZY1 is set to be 0x55, ZY2 is set to be 0x55, and ZY6 is set to be 0x 26;
b) collecting solar wing current I+YCharging current I of the storage batterydIf it satisfies I+Y>I1Or Id>I2Then, it is ready to
The part winding sends a zero-speed command, and simultaneously sends a mechanism motor power-off, and sets ZY1 as 0xAA and ZY2 as
0xAA, ZY3 is 0x55, the loop is ended, and the step 30) is skipped
c) n-1, subtracting 1 from ZY4 (ZY4 is less than or equal to 0, ZY4 is equal to 0), and entering the next cycle;
d) if n is equal to 0, a zero speed command is sent to the backup winding, ZY1 is set to 0xAA, ZY2 is set to 0xAA,
ZY3 is 0x55, the loop is ended, and the step 30) is skipped;
when the solar wing mechanism of the inspection tour device breaks down, the mechanism is used to wake up the control flow to unfold the + Y solar wing:
24. collecting solar wing current I+YCharging current I of the storage batterydIf I is+Y<I1And Id<I2Otherwise, setting ZY35 as 0xAA, ZY2 as 0xAA and ZY3 as 0x55, and jumping to the step 30);
25. sending a motor open-loop control instruction to a backup winding, wherein the speed is 11 and the time is ZY 4;
26. circulating n times with 2s as delay interval, n ═ theta*-(θ1-θcal) (ZY4 ═ 2n), in each cycle:
a) if n is more than 0, ZY1 is set to be 0x55, ZY2 is set to be 0x55, ZY3 and ZY6 are set to be 0x 26;
b) collecting solar wing current I+YCharging current I of the storage batterydIf I is+Y>I1Or Id>I2Then wind to backup
The group sends a zero-speed command, and simultaneously sends a mechanism motor power-off, sets ZY1 as 0xAA, ZY2 as 0xAA,
ZY3 is 0x55, end loop, jump to step 33)
c) n-1, subtracting 1 from ZY4 (ZY4 is less than or equal to 0, ZY4 is equal to 0), and entering the next cycle;
d) if n is 0, sending a zero-speed instruction to the backup winding;
27. judging the current motor controller, if the current motor controller is A, switching to the motor controller B, executing the step 28), otherwise, setting ZY1 as 0xAA, ZY2 as 0xAA, ZY3 as 0x55, and jumping to the step 30);
28. reading the sun wing angle theta3And zero offset value theta with + Y solar wingcalPerforming an operation if theta*≤θ3-θcalIf the ZY1 is set to be 0xAA, the ZY2 is set to be 0xAA, and the ZY3 is set to be 0x55, the step 30) is skipped; otherwise, sending a motor open-loop control instruction to the backup winding, wherein the speed is 11 and the time is ZY 4;
29. cycling n times (n ═ theta) with 2s as delay interval*-(θ3-θcal) ZY4 ═ 2n), within each cycle:
a) if n is more than 0, ZY1 is set to be 0x55, ZY2 is set to be 0x55, ZY3 and ZY6 are set to be 0x 26;
b) collecting solar wing current I+YCharging current I of the storage batterydIf I is+Y>I1Or Id>I2Then wind to backup
The group sends a zero-speed command, and simultaneously sends a mechanism motor power-off, sets ZY1 as 0xAA, ZY2 as 0xAA,
ZY3 is 0x55, the loop is ended, and the step 30) is skipped;
c) n-1, subtracting 1 from ZY4 (ZY4 is less than or equal to 0, ZY4 is equal to 0), and entering the next cycle;
d) if n is equal to 0, a zero speed command is sent to the backup winding, ZY1 is set as 0xAA, ZY2 is set as 0xAA,
ZY3 is 0x55, the loop is ended, and the step 30) is skipped.
30. And writing the values corresponding to ZY1, ZY2 and ZY3 back to the EEPROM memory, and ending the task.
After the + Y solar wing is unfolded to a desired angle, if the solar wing is enabled by flattening, waiting for time T1wAnd then flattening to 180 deg. If the measurement and control link is recovered in the waiting process, the ground can send a 'solar span flatness termination' instruction to terminate the waiting process. Table 1 shows some parameter definitions involved in the method of the present invention.
Table 1 partial parameter definitions
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (6)
1. A patrol instrument fault-tolerant autonomous awakening control method suitable for a moon-back environment is characterized by comprising the following steps:
the first step is as follows: before sleeping, the patrol device center controls a computer A to set wake-up parameters;
the second step is that: before sleeping, the central control computer B of the patrol device performs awakening parameter setting, wherein the central control computer A and the central control computer B are backups of each other;
the third step: controlling the solar wing of the inspection device to be unfolded according to the awakening parameters when the inspection device is awakened; the applicable conditions of the solar wing unfolding of the inspection device comprise that the inspection device mechanism has no fault, the inspection device is blocked by measurement and control, the inspection device mechanism has a rotary-change fault, the inspection device mechanism is blocked by movement, and the inspection device center controls a computer to cut or reset;
when the tour ware mechanism does not have the trouble, the sun wing mechanism of tour ware is normal, the sun wing whirl becomes normal, uses motor open-loop control mode to expand the tour ware sun wing to expectation angle, specifically includes the following step:
(1) when the patrol device sun wing unfolding completion mark read by the computer during initial power-on is not completed, completing the mark of the first stage of sun wing unfolding, enabling the sun wing to be unfolded, and delaying the waiting time T for the sun wing to be unfolded1wWinding used by first rotation of solar wing and time T to be executed in first stage of solar wing unfolding1Assigning corresponding important data, and when the solar wing unfolding completion mark read by the computer reset or the cutter is not completed, retrieving the solar wing unfolding first-stage completion mark, the solar wing flattening enabling mark and the solar wing flattening delay waiting time T in the important data1wWinding used by first rotation of solar wing and time T to be executed in first stage of solar wing unfolding1；
(2) Verifying a motor controller of the inspection device, powering on and delaying a motor of the inspection device mechanism, and if the first stage completion mark of the solar wing unfolding is incomplete, turning to the step (3), otherwise, turning to the step (6);
(3) reading the current angle theta of the sun wing0If 0 DEG-theta is less than or equal to 0 DEG0-θcalTheta is less than or equal to 1 degree or less than or equal to 359 degrees0-θcalTurning to the step (4) when the angle is less than or equal to 360 degrees; thetacalThe angle zero deviation value of the solar wing is obtained;
(4) sending a motor open-loop control instruction to a winding used for the first rotation of the solar wing for T1While at 2s delay intervals, the cycle n is T12 times, per cycle: (41) if n is larger than 0, the solar wing unfolding function completion mark is set as incomplete, and the solar wing unfolding first stage completion mark is set as incomplete; (42) n is n-1, the time to be executed in the first stage of the solar wing unfolding is reduced by 1 until n is 0, and a zero-speed command is sent to a winding used by the solar wing in the first rotation;
(5) reading the sun wing angle theta1If theta*-5°≤θ1-θcal≤θ*If the angle is +5 degrees, the completion mark of the first stage of the solar wing unfolding is set to be completed, and the step (6) is carried out, if the angle is theta1-θcal＞θ*If the sun wing unfolding function is finished at +5 degrees, the sun wing unfolding function completion mark is set to be finished, the first stage of sun wing unfolding completion mark is set to be finished, the sun wing flattening enabling mark is forbidden, the autonomous awakening control task is finished, and otherwise, the mechanism fault awakening control is switched to; theta*Desired deployment angle for solar wings;
(6) if the solar wing flattening enabling mark is enabled, the step (7) is carried out, otherwise, the solar wing unfolding function completion mark is set to be completed, the solar wing unfolding first-stage completion mark is set to be completed, the solar wing flattening enabling mark is disabled, and the autonomous awakening control task is finished;
(7) if theta is greater than theta*If the angle is less than 180 degrees, the step (8) is carried out, otherwise, the solar wing spreading function completion mark is set to be completed, and the solar wing spreading is carried outThe first stage is finished, the solar wing flattening enabling mark is forbidden, and the autonomous awakening control task is finished;
(8) and (3) cycling n times by taking 2s as a delay interval, wherein in each cycle: (81) if n is larger than 0, the solar wing unfolding function completion mark is set to be unfinished, the solar wing unfolding first stage completion mark is set to be finished, the solar wing flattening enabling mark is set to be enabled, the time to be executed in the solar wing unfolding first stage is set to be 0, and the solar wing flattening delay waiting time T is set to be T1wEvery 0.5 hours, reduce by 1; (82) until n is equal to 0, go to step (9);
(9) reading the sun wing angle theta2If theta*-5°≤θ2-θcal≤θ*If the solar wing flattening enable mark is enable at +5 degrees, the step (10) is carried out, otherwise, the solar wing unfolding function completion mark is set to be completed, the solar wing unfolding first stage completion mark is completed, the solar wing flattening enable mark is disabled, and the autonomous awakening control task is finished;
(10) sending a motor closed-loop control instruction to a winding used for the first rotation of the solar wing, wherein the angle is 180 degrees + thetacalAnd-0.3 degrees, setting a solar wing unfolding function completion mark as completion, setting a solar wing unfolding first stage completion mark as completion, setting a solar wing flattening enabling mark as forbidden energy, and finishing the autonomous awakening control task.
2. The patrol instrument fault-tolerant autonomous awakening control method applicable to the dormitory environment according to claim 1, wherein the patrol instrument fault-tolerant autonomous awakening control method comprises the following steps: when the inspection device measures and controls the shielding, the solar wing of the inspection device is unfolded to a desired angle and then is shielded for measurement and control, the solar wing is continued to be flattened after waiting, and when the measurement and control are recovered in the waiting process, the inspection device terminates the solar wing flattening process according to a ground instruction.
3. The patrol instrument fault-tolerant autonomous awakening control method suitable for the dormitory environment according to claim 2, wherein the patrol instrument fault-tolerant autonomous awakening control method comprises the following steps: when the central computer of the inspection tour device is cut or reset, if the central computer is cut or reset in the process of unfolding the solar wing to the expected angle, the solar wing is unfolded according to the residual time to be executed after the central computer is cut or reset.
4. The patrol instrument fault-tolerant autonomous wake-up control method suitable for the moon-back environment according to claim 3, characterized in that: when the patrol device mechanism is in a rotational fault or the patrol device mechanism is blocked in motion, the patrol device is switched to a backup winding or B parts of motor controllers to unfold the solar wing, and when the current of the solar wing meets the requirement in the unfolding process of the patrol device, the unfolding process is exited.
5. The patrol instrument fault-tolerant autonomous wake-up control method suitable for the dormitory environment according to claim 4, characterized in that:
when the patrol device mechanism is in a rotary-change fault, and the patrol device center controls the computer to switch or reset, the awakening control flow comprises the following steps:
(11) sending a motor open-loop control instruction to a winding used for the first rotation of the solar wing, wherein the time is the time to be executed in the first stage of the unfolding of the solar wing;
(12) cycling n times with 2s as delay interval and within each cycle: (121) if n is larger than 0, the solar wing unfolding function completion mark is set as incomplete, and the solar wing unfolding first stage completion mark is set as incomplete; (122) when n is equal to n-1, the first stage of the solar wing unfolding is to be executed by subtracting 1, entering the next cycle, and sending a zero-speed instruction to a winding used by the solar wing for the first rotation until n is equal to 0;
(13) collecting solar wing current I+YCharging current I of the storage batterydIf I is+Y<I1And Id<I2If the solar wing unfolding function is finished, the solar wing unfolding first stage is finished, the solar wing unfolding enabling mark is disabled, and the autonomous awakening control task is finished; i is1Is the solar wing current threshold, I2Charging a current threshold for the battery pack;
(14) sending a motor open-loop control instruction to a backup winding, wherein the time is the time to be executed in the first stage of solar wing unfolding;
(15) with 2s as time delayEvery other cycle n times, within each cycle: (151) if n is larger than 0, the solar wing unfolding function completion mark is set as incomplete, the solar wing unfolding first stage completion mark is set as incomplete, and a winding used for the first rotation of the solar wing is set as a standby winding; (152) collecting solar wing current I+YCharging current I of the storage batterydIf I is+Y>I1Or Id>I2If yes, a zero-speed instruction is sent to the backup winding, meanwhile, a mechanism motor is sent to be powered off, a solar wing unfolding function completion mark is set to be completed, a solar wing unfolding first-stage completion mark is set to be completed, a solar wing flattening enabling mark is set to be forbidden, circulation is finished, and the autonomous awakening control task is finished, otherwise, the step (153) is carried out; (153) n is n-1, the time to be executed in the first stage of the solar wing unfolding is reduced by 1 until n is 0, and a zero-speed instruction is sent to a backup winding;
(16) if the current motor controller is A, switching to B, otherwise, setting a solar wing unfolding function completion mark as completion, a solar wing unfolding first-stage completion mark as completion, setting a solar wing flattening enabling mark as forbidden energy, and finishing the autonomous awakening control task;
(17) sending a motor open-loop control instruction to a backup winding, wherein the time is the time to be executed in the first stage of solar wing unfolding;
(18) and (3) cycling n times by taking 2s as a delay interval, wherein in each cycle: (171) if n is larger than 0, the solar wing unfolding function completion mark is set as incomplete, the solar wing unfolding first stage completion mark is set as incomplete, and a winding used for the first rotation of the solar wing is set as a standby winding; (172) collecting solar wing current I+YCharging current I of the storage batterydIf it satisfies I+Y>I1Or Id>I2If yes, a zero-speed instruction is sent to the backup winding, meanwhile, a mechanism motor is sent to be powered off, a solar wing unfolding function completion mark is set to be completed, a solar wing unfolding first-stage completion mark is set to be completed, a solar wing flattening enabling mark is set to be forbidden, circulation is finished, and an autonomous awakening control task is finished, otherwise, the step (173) is carried out; (173) n is n-1, the first stage of the solar wing unfolding is to reduce the execution time by 1, the next cycle is started until n is 0, a zero-speed command is sent to the backup winding, the cycle is ended, andthe autonomous wake-up control task ends.
6. The patrol instrument fault-tolerant autonomous wake-up control method suitable for the dormitory environment according to claim 5, characterized in that: when the movement of the tour device mechanism is blocked, the mechanism fault awakening control comprises the following procedures:
(19) collecting solar wing current I+YCharging current I of the storage batterydIf I is+Y<I1And Id<I2If the solar wing unfolding function is finished, the step (20) is carried out, otherwise, a solar wing unfolding function completion mark is set to be finished, a solar wing unfolding first-stage completion mark is set to be finished, a solar wing flattening enabling mark is set to be forbidden, and the autonomous awakening control task is finished;
(20) sending a motor open-loop control instruction to a backup winding, wherein the time is the time to be executed in the first stage of solar wing unfolding;
(21) and (3) cycling n times by taking 2s as a delay interval, wherein in each cycle: (211) if n is larger than 0, the solar wing unfolding function completion mark is set as incomplete, the solar wing unfolding first stage completion mark is set as incomplete, and a winding used for the first rotation of the solar wing is set as a standby winding; (212) collecting solar wing current I+YCharging current I of the storage batterydIf I is+Y>I1Or Id>I2If the solar wing unfolding enabling mark is forbidden, the circulation is finished, and the autonomous awakening control task is finished; (213) n-1, subtracting 1 from ZY4, entering the next cycle until n is 0 and sending a zero-speed command to the backup winding; ZY4 is the time to be executed for the first stage of solar wing unfolding;
(22) reading the sun wing angle theta3And zero offset theta from the sun wingcalPerforming an operation if theta*≤θ3-θcalIf the solar wing unfolding function completion mark is set as completion, the solar wing unfolding first stage completion mark is set as completion, the solar wing flattening enabling mark is set as forbidden energy, the autonomous awakening control task is ended, otherwise, the standby winding is switched toSending a motor open-loop control instruction, wherein the time is the time to be executed in the first stage of solar wing unfolding;
(23) and (3) cycling n times by taking 2s as a delay interval, wherein in each cycle: (231) if n is larger than 0, the solar wing unfolding function completion mark is set as incomplete, the solar wing unfolding first stage completion mark is set as incomplete, and a winding used for the first rotation of the solar wing is set as a standby winding; (232) collecting solar wing current I+YCharging current I of the storage batterydIf I is+Y>I1Or Id>I2If yes, a zero-speed instruction is sent to the backup winding, meanwhile, a mechanism motor is sent to be powered off, a solar wing unfolding function completion mark is set to be completed, a solar wing unfolding first-stage completion mark is set to be completed, a solar wing flattening enabling mark is set to be forbidden, circulation is finished, and the autonomous awakening control task is finished, otherwise, the step (233) is carried out; (233) and n is equal to n-1, ZY4 is decreased by 1, the next cycle is started until n is equal to 0, a zero-speed instruction is sent to the backup winding, and the autonomous wake-up control task is finished.
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