CN110294146B - On-orbit autonomous operation management method for spacecraft thermal control system - Google Patents
On-orbit autonomous operation management method for spacecraft thermal control system Download PDFInfo
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Abstract
The invention provides an on-orbit autonomous operation management method for a spacecraft thermal control system, which comprises the following steps: (1) The software initialization sub-module provides an initial parameter value of the thermal control system; (2) Calling a data acquisition submodule to acquire temperature data, a spacecraft working mode and reference voltage; and (3) calling a data processing submodule: calibrating the temperature data according to the reference voltage; selecting temperature data participating in closed-loop temperature control and carrying out effectiveness interpretation; selecting a temperature control threshold value through a spacecraft working mode; (4) And after the data acquisition and processing are finished, judging whether the spacecraft enters a safety mode, judging whether the spacecraft is in a normal working mode or the safety mode, and performing subsequent operation according to the judgment result. The invention has the beneficial effects that: saving a large amount of ground operation and maintenance workload, improving the survival, anti-strike, anti-damage and task completion capabilities of the spacecraft.
Description
Technical Field
The invention relates to an on-orbit autonomous operation management method for a spacecraft thermal control system, and belongs to the technical field of spaceflight.
Background
The on-orbit operation of a spacecraft is an important component of the life cycle of the spacecraft. For a long time, the on-orbit operation of the spacecraft in China is mainly completed by ground workers through uploading control instructions. The traditional spacecraft task operation mode is an indispensable stage of the development of the aerospace technology, but the future development requirements of aerospace application are difficult to meet. Especially, the continuous improvement and development of the constellation system put high demands on the long-term on-orbit autonomous operation and management of a large number of satellites. The development direction of the spacecraft technology in the future is represented by a brand new autonomous operation mode which changes the traditional spacecraft task operation mode and greatly reduces human intervention until the spacecraft does not need too much ground intervention in the whole life cycle.
The task of the spacecraft thermal control system is to ensure that all instruments and equipment on the satellite meet the temperature index requirements under the conditions of a set orbit, attitude and working mode. During the on-orbit flight of the spacecraft, the temperature level and the change condition of the spacecraft can be influenced by the change of heat flow outside the orbit, the switching of the working mode and the change of the power consumption inside the satellite. This requires that the spacecraft be able to adapt to the current environment through autonomous thermal control, ensuring that each single unit is within the normal operating temperature range. Meanwhile, with the continuous development of aerospace technology, more and more satellite load devices (especially scientific experimental loads) have higher requirements on temperature uniformity, stability and change rate.
In summary, the control strategy of the spacecraft thermal control system should include the following four aspects:
(1) The temperature self-balance of the spacecraft is realized by using passive thermal control measures as much as possible: by coating the multilayer components and arranging the reasonable radiating surfaces, each single machine is in an ideal balance temperature, and the aim of autonomous operation of the thermal control system is further fulfilled.
(2) The active heater adopts a software autonomous control mode: the closed-loop temperature control is realized through the electric heater, the temperature sensor and the controller, and the temperature indexes of single machine equipment under various working conditions are met, particularly the high-stability temperature control of special single machines and positions. For example, the working temperature stability of the installation surface of an atomic clock of a certain 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.
(3) And the autonomous thermal control management of the special single-machine equipment in different modes is realized. For example, the temperature of a certain satellite storage battery is required to be 15-25 ℃ when the satellite storage battery works in the terrestrial shadow season, the temperature is required to be 0-15 ℃ when the satellite storage battery is stored in Yang Zhao, and the satellite thermal control system is required to automatically control the temperature.
(4) The spacecraft is influenced by attitude, energy or other faults, and the load single machine needs to be shut down and enters a stable attitude, namely a safe mode. At the moment, the attitude of the spacecraft, the switching state of the single-machine equipment, the energy limiting condition and the like are greatly different from the normal working mode, so that the thermal control strategy needs to be adjusted correspondingly. The control strategy of the thermal control system has the capability of carrying out autonomous adjustment according to different working modes of the spacecraft.
The spacecraft is in a severe space environment, and the reliable work of each component for a long time is difficult to be completely ensured. Therefore, the spacecraft is required to be capable of monitoring and sensing the state of the spacecraft, and detecting, isolating and recovering the fault, namely autonomous health management of the spacecraft.
The autonomous health management of the thermal control system mainly comprises two aspects: temperature amount abnormality and heater output power abnormality.
(1) The autonomous health management for abnormal temperature mainly comprises the following steps:
a) Independently judging the validity of the temperature data;
b) Designing a closed-loop temperature control point redundancy backup;
c) The abnormal temperature measuring points are automatically switched;
(2) The autonomous health management of abnormal output power of the heater mainly comprises the following steps:
a) The redundant design of the main backup of the heater;
b) Controlling a heater under the condition that all temperature control points of a closed loop fail;
the traditional spacecraft thermal control autonomous operation and health management has the following defects:
(1) The conventional temperature control algorithm is difficult to meet the requirement of high-stability temperature control equipment. At present, a heater switch control algorithm is mainly adopted for temperature control of a thermal control system of a spacecraft. The control is simple, the temperature control requirements of most of equipment can be met, but the temperature stability is not high (within a range of several degrees).
(2) It is difficult to realize the autonomous thermal control management of the special single-machine equipment in different modes. In the conventional thermal control scheme of the spacecraft, once the corresponding temperature threshold of the single-machine equipment is set, the spacecraft is difficult to change in an autonomous mode. For single machines with different temperature control target temperatures in different modes, temperature control can be realized only by sending remote control instructions and injecting data within the time that the ground station can communicate with the single machines, various detailed operation standards and processes need to be formulated, and a large amount of manpower and material resources are consumed.
(3) The autonomous switching of the thermal control strategy of the spacecraft in the normal working mode and the safe mode cannot be realized. The spacecraft safety mode is a working mode with the most stable posture, the most sufficient energy, the least energy consumption and the lowest maintenance operation power consumption, and the posture, the single-machine equipment switching state, the energy limiting condition and the like of the spacecraft safety mode are greatly different from the normal working mode, so that the thermal control strategy needs to be adjusted correspondingly. The traditional spacecraft does not have the capability of autonomous switching and can only be controlled by sending remote control commands on the ground.
(4) The fault autonomous diagnosis and recovery means are less. At present, after a thermal control system of a spacecraft breaks down, ground workers mainly confirm the state through uplink and downlink remote measurement and remote control and send instructions to carry out fault treatment. This method is liable to cause hysteresis in the failure processing and consumes a large amount of manpower and material resources.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the traditional spacecraft thermal control system has the defects of autonomous operation and autonomous health management.
In order to solve the above technical problems, the present invention provides an on-orbit autonomous operation management method for a spacecraft thermal control system, where the thermal control system includes 1 main module and 6 sub-modules, and the 6 sub-modules include: the system comprises a software initialization sub-module, a data acquisition sub-module, a data processing sub-module, a switch control algorithm sub-module, a proportional control algorithm sub-module and a safety mode sub-module; the main module stays for a long time to work, and controls the temperature of the spacecraft by calling each sub-module, and the method comprises the following steps:
(1) The software initialization sub-module provides an initial parameter value of the thermal control system;
(2) Calling a data acquisition submodule to acquire temperature data, a spacecraft working mode and reference voltage;
(3) Calling a data processing submodule: calibrating the temperature data according to the reference voltage; selecting temperature data participating in closed-loop temperature control and carrying out effectiveness interpretation; selecting a temperature control threshold value through a spacecraft working mode;
(4) And after the data acquisition and processing are finished, judging whether the spacecraft enters a safety mode, judging whether the spacecraft is in a normal working mode or the safety mode, and performing subsequent operation according to the judgment result.
In some embodiments, the software initialization submodule includes the following 6 functional modules: heating enable setting, temperature threshold initialization, atomic clock parameter setting, temperature measuring point initialization, heater initialization and single machine attribute initialization.
In some embodiments, in the step (4), when the spacecraft is determined to be in the normal working mode, the switch control submodule and the proportional control submodule are sequentially called to control the temperature, the phase Guan Rekong parameter is transmitted to the data acquisition submodule, and the period temperature control is finished.
In some embodiments, the switch control algorithm sub-module provides dual temperature point temperature control, multi temperature point temperature control, and temperature threshold autonomous switching temperature control. The double temperature measuring points preferentially use the main temperature measuring point as a closed loop temperature controlling point; and when the main temperature measuring point is invalid, the main temperature measuring point is automatically switched to the standby temperature measuring point as a closed-loop temperature control point.
In some embodiments, the proportional control sub-module provides a plurality of fine temperature measurement points as redundant backups for closed-loop temperature control points; and when the fine temperature measuring point is marked as enabled, the fine temperature measuring point is adopted as a closed-loop temperature control point.
In some embodiments, in step (4), when the spacecraft is determined to be in the safe mode, the safe mode sub-module performs the relevant logical operation. The relevant logic operations are specifically: setting all heating enabling states as forbidden, turning off all heaters, and judging the working condition of the energy system at fixed intervals. If judging that the energy system is in fault, the propulsion heater is started preferentially to ensure the normal work of the propulsion system. If the energy system is judged to be normal, all heating enabling states are set as enabling, and automatic temperature control is carried out.
The invention has the beneficial effects that: the invention is suitable for the on-orbit autonomous operation and autonomous health management of the thermal control systems of the spacecrafts such as low, medium and high orbit satellites, manned spacecrafts and the like, and has the capabilities of saving a large amount of ground operation and maintenance workload, improving the survival and the anti-attack and anti-damage of the spacecrafts and completing tasks.
Drawings
The present application may be better understood by describing embodiments of the invention in conjunction with the following drawings, in which:
FIG. 1 is a software module architecture and flow diagram of a spacecraft thermal control system of the present invention;
FIG. 2 is a logic diagram of the switch control submodule of the present invention;
FIG. 3 is a logic diagram of the proportional control sub-module of the present invention;
FIG. 4 is a logic diagram of a data processing submodule in the present invention;
FIG. 5 is a logic diagram of the security mode sub-module of the present invention;
fig. 6 is a thermal control effect diagram of the thermal control system of the spacecraft in the invention.
The reference numerals in the above figures have the following meanings:
1 software initialization submodule
2 data acquisition submodule
3 data processing submodule
4 switch control algorithm submodule
5 proportion control algorithm submodule
6 safety mode submodule
Detailed Description
While specific embodiments of the invention will be described below, it should be noted that in the course of the detailed description of these embodiments, in order to provide a concise and concise description, all features of an actual implementation may not be described in detail. This specification describes the present application in terms of specific examples and can assist any person skilled in the art of the process or system of the present invention in carrying out the experimental operations, but is not intended to limit the scope thereof.
In order to overcome the defects of the autonomous operation and the autonomous health management of the conventional spacecraft thermal control system, the invention designs a novel method for managing the autonomous operation of the thermal control system, which is realized by a thermal control system autonomous operation and health management software module. By combining the on-off control algorithm and the proportional control algorithm, the problem that the conventional temperature control algorithm is difficult to meet the requirement of high-stability temperature control equipment is solved while the temperature control requirement of most single-machine equipment with low requirement on temperature stability is met, the temperature convergence speed of a temperature control point is effectively improved under the condition of ensuring the temperature control stability of the system, the on-off times of each heater in the control process is obviously reduced, and the design reliability of the system is improved; the temperature data effectiveness judgment and the abnormal temperature control point autonomous switching are combined with a control algorithm, so that the thermal control system has the capabilities of long-term autonomous operation and autonomous health management; adding a logic judgment condition to realize the autonomous switching of the temperature control threshold value of the special single-machine equipment in different working modes; and designing a safety mode thermal control strategy to realize the autonomous switching between the normal working mode and the safety mode thermal control strategy. The on-orbit autonomous operation management method of the thermal control system can completely realize on-orbit 'intelligent' and 'unmanned' management, namely the thermal control system of the spacecraft can be autonomously adapted to various extreme working conditions and fault conditions in on-orbit operation without ground operation and maintenance.
In order to meet the requirements of a certain satellite thermal control system on long-term on-orbit autonomous operation and health management, firstly, a radiating surface and heating power are designed by adopting a low-temperature method according to the characteristics of an orbit and an attitude, and each single machine is in an ideal balance temperature by coating a plurality of layers of assemblies and arranging a reasonable radiating surface, and the satellite thermal control system also has corresponding temperature control capability under a high-temperature working condition. The thermal control software module runs in the satellite-borne computer, the collection and processing of the whole satellite temperature remote measurement are realized by the satellite-borne computer and the data processing terminal, and the active temperature control is realized by controlling the switch of the electric heating plate by the distributor.
1) Thermal control software module architecture and workflow
The thermal control system software module is divided into 1 main program module and 6 sub-modules, the main program module resides for a long time, the whole satellite temperature is controlled by calling each sub-module, and the software module architecture and the working flow are shown in fig. 1.
a) The initialization submodule comprises 6 functional modules of heating enabling setting, temperature threshold initialization, atomic clock parameter setting, temperature measuring point initialization, heater initialization, single machine attribute initialization and the like, and data injection can be carried out through a configuration table in a development stage and is used as a constraint condition for autonomous operation and health management of a thermal control system; when the computer is switched off or reset due to a fault or an instruction, the thermal control system parameters contained in the software initialization submodule (1) are restored to the initial values.
b) And after the main program module confirms the data of the initialization submodule, calling the data acquisition submodule. The data acquisition comprises the following steps: temperature data (collected by the onboard computer and data processing terminal), satellite energy state, and reference voltage.
Wherein, temperature data is collected to monitor the spacecraft temperature level. And acquiring the working mode of the spacecraft, and judging whether the spacecraft enters a safety mode. The voltage value is collected for calculation, temperature data conversion is not carried out in the calculation process, and the temperature control precision of the system is improved while the calculation amount of the housekeeping software is reduced.
c) After data acquisition, the data enters a data processing module to process corresponding data, and the method mainly comprises the following steps: calibrating temperature data through the acquired reference voltage; selecting temperature data participating in closed-loop temperature control and carrying out effectiveness interpretation; accurately measuring the temperature of an atomic clock and taking an average value; and selecting a temperature control threshold value of the storage battery.
Selecting closed-loop temperature measuring points to carry out validity interpretation on temperature data, preventing abnormal data generated by damage, interference and the like of a temperature measuring element from participating in closed-loop control, and having the function of automatically switching to backup valid data; the high-precision temperature measurement point data processing method comprises the following specific steps: the computer collects the voltage values of a plurality of temperature data every second and takes the intermediate value, and the heat control algorithm in the control period takes the arithmetic mean value of the voltage values of the temperature data collected in the last three seconds. And selecting a temperature control threshold value by judging the current working mode of the special single machine.
d) And after the thermal control software finishes data acquisition and processing, judging whether the whole satellite enters a safety mode. When the whole satellite is in a normal working mode (the judgment result is no), sequentially calling the switch control submodule and the proportional control submodule to control the temperature, transmitting the parameter Guan Rekong to the data acquisition submodule and finishing the period temperature control; when the satellite is in the safe mode (yes), the safe mode sub-module is entered to execute the relevant logic operation. The normal working mode and the safety mode can realize autonomous switching.
The switch control algorithm submodule (4) comprises double-measuring-point temperature control, multi-measuring-point temperature control and temperature threshold automatic switching temperature control, can meet the temperature control requirements of most single-machine equipment with low temperature stability requirements, and can realize automatic switching of special single-machine temperature thresholds. The temperature control of the double temperature measuring points takes the main temperature measuring point as the closed loop temperature control point preferentially. And when the effectiveness of the main temperature measuring point is invalid, the main temperature measuring point is automatically switched to the standby temperature measuring point as a closed loop temperature control point. The multi-temperature-measuring-point temperature control comprises 3 or more than 3 temperature measuring points. When multiple temperature measuring points exist, when 1 or more than 1 temperature measuring point is effective, the temperature measuring point with the maximum voltage value (the lowest temperature) is taken as the closed-loop temperature control point of the current period. And when all temperature measuring points are invalid, determining the on-off state of the heater by judging the properties of the single machine. And when all temperature measuring points are invalid, if the controlled stand-alone equipment is judged to be the active stand-alone equipment, all heaters are turned off. And when all temperature measuring points are invalid, if the controlled single machine equipment is judged to be a passive single machine, the main heater is started, and the controlled single machine is closed.
The sub-module of the proportional control algorithm designs n accurate temperature measuring points as redundant backup of closed-loop temperature control points, and when the accurate temperature measuring points n in the control period are marked as enabled, the accurate temperature measuring points are adopted as the closed-loop temperature control points. When the current enabled accurate temperature measuring point is invalid, the accurate temperature measuring point is marked as forbidden, and the next accurate temperature measuring point with the validity of 1 is taken as enabled, so that the autonomous switching after the closed-loop temperature control point is abnormal is completed.
Theoretical duty cycle: η = KP · e = KP · · section (Vnt-Vst);
vnt-nth effective temperature control point temperature corresponds to voltage value, n =1,2,3, …;
vst is a target temperature corresponding voltage value;
Δ V — voltage deviation of proportional control interval;
n — number of heaters in "enabled" state, N =2,3,4;
when the temperature of the temperature control point enters a proportional control interval, the switching state and the time of the heater are randomly selected according to the interval where the number of the available heaters and the duty ratio are located. When the temperature of the temperature control point is lower than the lower limit of the temperature control threshold value of the proportional control interval, all heaters in the 'enabling' state are started; and when the temperature of the temperature control point is higher than the upper limit of the temperature control threshold value of the proportional control interval, turning off all the heaters in the 'enabling' state. The algorithm can ensure that the heating power is unchanged in a temperature control period, and the 'break-over' of part of the heaters is realized when the duty ratio is small, so that the action times of a heater switch control device are effectively reduced, and the design reliability of the system is improved.
When the temperature of the temperature control point is out of the range of the target temperature proportional control threshold, the heater in the 'enable' state can be kept in a full power output or all closed states, and the temperature of the temperature control point is quickly converged to the target temperature; on the basis of the traditional proportional control algorithm, the function of randomly selecting the on-off state and time of the heaters in different areas according to the number of the heaters and the duty ratio is added, on the basis of ensuring that the heating power required by the next control period is not changed, the high-temperature stability control of a certain area is realized, the on-off action times of the heaters can be reduced, and the service life is prolonged.
After judging that the spacecraft enters the safety mode, the safety mode submodule takes corresponding actions, specifically: setting all heating enabling states as forbidden, turning off all heaters, and judging the energy condition every fixed period. If judging that the energy system is in fault, the propulsion heater is started preferentially to ensure the normal work of the propulsion system. If the energy system is judged to be normal, all heating enabling states are set as enabling, and automatic temperature control is carried out. And judging whether to exit the safety mode or not at fixed intervals. If the result of the judgment of 'exit from the safe mode' is 'yes', all the heating enable states are set to 'enable'. And if the result of judging whether to exit the safe mode is negative, continuing to judge the state of the energy system and repeating the previous logic.
2) Closed-loop temperature control point and electric heater redundancy backup design
a) Closed loop temperature control point
In order to prevent temperature control logic errors caused by long-term abnormity of a single closed-loop temperature control point, a dual-measuring-point redundancy backup design scheme is adopted in thermal control design, and a multi-measuring-point backup mode is adopted for closed-loop temperature control of certain important parts. According to the design scheme, the closed-loop temperature control system can be ensured to operate stably as long as one of the temperature measuring points works normally, and the abnormal condition of thermal control autonomous operation caused by failure of a single temperature measuring point does not exist.
b) Electric heater
For the possible abnormal conditions of heater open circuit and short circuit, the on-satellite autonomous control heater adopts the main backup redundancy design. When a certain path of heater is in open circuit or short circuit abnormal condition and has no power output, the heater in a cold standby state can trigger 'standby heating open limit' to be automatically started through temperature control point temperature; the heaters in the hot standby state automatically adjust the duty ratio (switching time) of each heater through software to achieve total power output balance, and the temperature of a controlled single machine or a controlled part is automatically and continuously controlled.
3) Temperature data validity judgment and abnormal temperature control point autonomous switching
All closed-loop temperature control points on the thermal control system satellite are collected by the satellite-borne computer. After the computer collects the temperature data voltage value, the temperature data voltage value is compared with the effective temperature interval, the temperature data voltage value in the effective interval participates in closed-loop temperature control, and the temperature data voltage value not in the effective interval does not participate in closed-loop temperature control. The temperature data validity automatic judgment can effectively prevent temperature control logic confusion caused by accidental temperature data field values, and is an effective measure for realizing abnormal automatic health management of the temperature data.
The thermal control software module also has an abnormal temperature control point automatic switching function, and for the switch control logic, when a certain temperature control point is abnormal, the abnormal temperature control point switching can be automatically realized through the temperature data validity judgment; for proportional control logic (atomic clock mounting plate temperature control logic), when the temperature control point in the enabling state is abnormal, the software module can be automatically switched to the next effective temperature control point for closed-loop control, and automatic health management and seamless switching are achieved.
4) Data processing method
The control algorithm directly uses the voltage value acquired by the spaceborne computer to calculate in the software calculation process, temperature data conversion is not carried out in the calculation process, a polynomial or power exponent calculation is usually required to be carried out on a temperature data and voltage value conversion formula, the conversion process occupies more software resources, and the temperature control precision of the system is influenced after the temperature data and the voltage value are converted for many times. Therefore, the data processing method for controlling the system by using the direct sampling voltage value can reduce the calculation amount of the satellite software and improve the temperature control precision of the system.
5) Control algorithm
a) Switch control algorithm
Most of the numerical control temperature areas and single-machine equipment on a certain satellite adopt a switch control algorithm to perform closed-loop temperature control, and redundant backup design is performed on closed-loop temperature control points and electric heaters, wherein the logic schematic is shown in fig. 2. In the on-off control algorithm, the heating main on limit, the standby on limit and the off limit can be designed according to the target temperature of temperature control. Taking temperature control with two measuring points as an example, when the main temperature measuring point is judged to be effective and the effective temperature is between the main opening limit and the closing limit, the main heater is started, and the temperature of the controlled area is between the main opening limit and the closing limit; when the power of the main heater is insufficient or the power failure occurs due to a fault, the temperature is reduced to the standby limit, the standby heater is started, and the temperature of the controlled area is between the standby limit and the off limit, as shown in fig. 6. When the main temperature measuring point is judged to be invalid, automatically switching the standby temperature measuring point to be a closed-loop temperature controlling point to carry out validity judgment, and if the standby temperature measuring point is valid, continuing switch control logic; if the heater is invalid, determining the on-off state of the heater by judging the attributes of the single machine: if the heater is a passive single machine, the heater is switched on and off; if the heater is an active single machine, the heater is completely closed.
b) Proportional control algorithm
The target temperature of an atomic clock installation surface on a certain satellite is 5 ℃, the requirement of working temperature stability is not more than +/-0.5 ℃/15h, and the requirement of temperature stability cannot be met by conventional switch control. In order to eliminate the influence of the temperature inside the satellite, the change of external thermal current, the change of the self heat consumption of an atomic clock and the like on the temperature control stability of the mounting plate, a main-standby multi-path heater (generally more than 3 paths) is arranged in a heating area of the mounting plate, and a proportional algorithm is adopted to control the heater, so that the temperature of the mounting plate is ensured to be stabilized at a target temperature point. And (3) a proportional control algorithm: when the temperature is lower than the lower limit of the temperature control threshold, the duty ratio of the heater is 1, and the heater is in a normally open state; when the temperature enters a control interval, power regulation is realized by calculating a duty ratio; when the temperature is higher than the upper limit of the temperature control threshold, the duty ratio of the heater is 0, and the heater is in a normally-off state. Taking an example that the 3-way heater is initially in the "enabled" state (N =3, adjustable), the on-off state and the time statistics of the temperature-controlled heater in the "enabled" state under different duty ratios are shown in table 1. The proportional control algorithm logic is schematically illustrated in FIG. 3.
TABLE 1 Heater ON-OFF STATE OF DIFFERENT theoretical Duty cycles
Compared with the traditional proportional control algorithm, the proportional control algorithm has the advantage that the on-off state and time of the heaters can be randomly selected according to the number of the heaters and the interval of duty ratios. The algorithm can ensure that the heating power is unchanged in a temperature control period, and the 'break-over' of part of the heaters is realized when the duty ratio is small, so that the action times of a heater switch control device are effectively reduced, and the design reliability of the system is improved.
6) Temperature threshold autonomous switching
The working temperature of the lithium ion storage battery of a certain satellite during shadow season discharging is required to be 15-25 ℃, and the working temperature of Yang Zhaoji during charging is 0-15 ℃. In order to ensure that the working temperature of the storage battery pack in an orbit shadow season and the temperature of the storage battery pack before charging and discharging are increased, main heaters and backup heaters are uniformly arranged on the surfaces of single sleeves of the storage battery pack. The temperature control threshold of the battery in shadow seasons and Yang Zhaoji can be designed according to the corresponding temperature requirements. The thermal control software module can automatically control the working or storage temperature of the storage battery pack according to the change of the illumination angle of the satellite orbit, so that the thermal control automatic management of the storage battery pack in the sunny season and the shadow season is realized, and the logic schematic is shown in fig. 4.
After the satellite enters the orbit, the storage battery is firstly in Yang Zhaoji, and the temperature fluctuates in the temperature threshold interval in sunshine seasons; after the thermal control software determines that the satellite enters the ground shadow by judging the change of the illumination angle, the temperature threshold is changed into a shadow Ji Yuzhi in an autonomous data injection mode, at the moment, the main and standby heaters are started to raise the temperature of the storage battery until the temperature is stabilized in a shadow Ji Yuzhi section, and the autonomous switching of the temperature thresholds in the sunshine season and the ground shadow season is completed.
7) Satellite security mode thermal control strategy
The satellite safety mode is a working state of the satellite, is a working mode in which the attitude of the satellite is most stable, the energy is most sufficient, the energy consumption is least, and the power consumption for maintaining the operation of the satellite is lowest, and is mainly used for eliminating and recovering the on-orbit fault of the satellite or an orbit drift section in the initial stage of the orbit. The attitude, the on-off state of the single-machine equipment, the energy limiting conditions and the like of the system are greatly different from the normal working mode, so that the thermal control strategy needs to be adjusted correspondingly. The logic for autonomous switching of the satellite normal operation mode and the security mode thermal control strategy is shown in fig. 5.
And the thermal control software module judges whether the whole satellite enters a safety mode every fixed period. When the satellite enters the safety mode, the thermal control system performs corresponding operation according to the reason for entering the safety mode:
a) After the satellite enters a safety mode, the thermal control system immediately marks that all program control logics are in a forbidden state and closes all heaters, and after a period of time (the specific time can be adjusted according to actual conditions), next operation is carried out according to the condition of the energy system;
b) When the satellite enters a safety mode due to the failure of a non-energy system, all program control logics are marked to be in an 'enabling' state;
c) The satellite enters a safety mode due to the fault of an energy system, marks that all program control logics are in a forbidden state, closes all heaters, and opens a propulsion heater, so that the normal work of the propulsion system is effectively ensured;
d) After the whole satellite enters the safety mode due to energy or non-energy faults, judging the reason for the whole satellite entering the safety mode at fixed intervals: when the judgment result is 'non-energy system fault', setting according to the non-energy system fault; and when the judgment result is 'energy system fault', setting according to the energy system fault.
e) The thermal control software module judges whether to exit the safety mode or not every fixed period during the safety mode: when the judgment result is 'yes', setting all heating enabling states as 'enabling'; if the judgment result is 'no', the state of the energy system is continuously judged, and the previous logic is repeated.
f) During the period that the whole satellite enters the safety mode due to the 'energy system fault', the ground uplink command has the execution priority.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (6)
1. An on-orbit autonomous operation management method for a thermal control system of a spacecraft is characterized in that the thermal control system comprises 1 main module and 6 sub-modules, and the 6 sub-modules comprise: the system comprises a software initialization sub-module, a data acquisition sub-module, a data processing sub-module, a switch control algorithm sub-module, a proportional control algorithm sub-module and a safety mode sub-module;
the main module stays for a long time to work, and the temperature of the spacecraft is controlled by calling each sub-module, and the method comprises the following steps:
(1) The software initialization submodule provides an initial parameter value of the thermal control system;
(2) Calling the data acquisition submodule to acquire temperature data, a spacecraft working mode and reference voltage;
(3) Calling the data processing submodule: calibrating temperature data according to the reference voltage; selecting temperature data participating in closed-loop temperature control and carrying out effectiveness interpretation; selecting a temperature control threshold value according to the working mode of the spacecraft;
(4) After data acquisition and processing are completed, whether the spacecraft enters a safety mode is judged, the judgment result is that the spacecraft is in a normal working mode or the safety mode, and follow-up operation is performed according to the judgment result, wherein when the spacecraft is judged to be in the safety mode, the safety mode submodule executes related logic operation, and the related logic operation specifically comprises the following steps: setting all heating enabling states as forbidden, turning off all heaters, judging the working condition of the energy system at fixed intervals, if judging that the energy system is in fault, preferentially starting the propulsion heater to ensure the normal work of the propulsion system, and if judging that the energy system is normal, setting all heating enabling states as enabled, and performing autonomous temperature control.
2. The on-orbit autonomous operation management method of the thermal control system of the spacecraft of claim 1, wherein the software initialization submodule comprises the following 6 functional modules: heating enable setting, temperature threshold initialization, atomic clock parameter setting, temperature measuring point initialization, heater initialization and single machine attribute initialization.
3. The on-orbit autonomous operation management method of the thermal control system of the spacecraft according to claim 1, characterized in that in step (4), when the spacecraft is judged to be in the normal working mode, the on-off control algorithm submodule and the proportional control algorithm submodule are sequentially called for temperature control, a phase Guan Rekong parameter is transmitted to the data acquisition submodule, and periodic temperature control is finished.
4. The on-orbit autonomous operation management method of a spacecraft thermal control system according to claim 2, wherein the switch control algorithm sub-module provides dual-temperature-measuring-point temperature control, multi-temperature-measuring-point temperature control and temperature threshold autonomous switching temperature control.
5. The on-orbit autonomous operation management method of the thermal control system of the spacecraft of claim 4, characterized in that the dual temperature measurement points are controlled by temperature preferentially taking a main temperature measurement point as a closed-loop temperature control point; and when the main temperature measuring point is invalid, the main temperature measuring point is automatically switched to a standby temperature measuring point as a closed-loop temperature control point.
6. The on-orbit autonomous operation management method of a spacecraft thermal control system of claim 3, wherein the proportional control algorithm sub-module provides a plurality of fine temperature measurement points as redundant backup of closed-loop temperature control points; and when the accurate temperature measuring point is marked as enabled, the accurate temperature measuring point is adopted as a closed-loop temperature control point.
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