CN110703588B - Space station solar wing reliable redundancy control system and method based on multi-instruction input - Google Patents
Space station solar wing reliable redundancy control system and method based on multi-instruction input Download PDFInfo
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- CN110703588B CN110703588B CN201911119988.2A CN201911119988A CN110703588B CN 110703588 B CN110703588 B CN 110703588B CN 201911119988 A CN201911119988 A CN 201911119988A CN 110703588 B CN110703588 B CN 110703588B
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
Abstract
The invention provides a space station solar wing reliable redundancy control system based on multi-instruction input, which comprises: the solar wing locking mechanism is used for locking and unlocking the solar wing; the solar wing driving mechanism is used for driving the solar wings to do sun-oriented motion; the controller comprises a solar wing locking mechanism control module and a solar wing driving mechanism control module; the solar wing locking mechanism control module drives the solar wing locking mechanism to lock the solar wing according to the bus instruction locking signal and the hard line instruction locking signal, and drives the solar wing locking mechanism to unlock the solar wing according to the bus instruction unlocking signal and the hard line instruction unlocking signal; the solar wing driving mechanism control module drives the solar wing driving mechanism according to the bus instruction driving signal, the GNC instruction driving signal and the hard line instruction driving signal, and accordingly the sun-facing directional movement of the solar wing is achieved. The invention also provides a space station solar wing reliable redundancy control method based on multi-instruction input.
Description
Technical Field
The invention relates to the field of space system solar wing driving control, in particular to a space station solar wing reliable redundancy control system and method based on multi-instruction input.
Background
In the aerospace system, whether an airship or a satellite is used, the main power for maintaining the normal operation of the spacecraft in orbit is electric energy. The early satellite has small effective load capacity, low precision and simple control scheme. The satellite is cylindrical in shape, and the solar cell is attached to the outer surface of the cylinder. Due to the spinning of the satellite, the solar cell is only exposed to direct sunlight for a short period of time during one revolution of the satellite. The satellite may use less power for the payload.
In the prior art, in order to fully utilize the electric energy generated by the solar cell, a solar wing is generally installed on a satellite. The solar wings are saily-like plates extending from the satellite and covered with solar cells. The solar energy is converted into electric energy by the sun wing in a sun-oriented way, and the power is provided for the satellite. The solar wing installed on a satellite or an airship has the span of several meters, and the motion control mode of the solar wing is relatively simple, the command form is less, the redundancy control requirement is simple, and the reliability is not high.
Because the requirement on electric energy for the multi-cabin operation of the space station is huge, large solar wings are adopted by the space station, and the wingspan of the large solar wings is about 30 meters. The space station has long on-orbit time, has high requirement on the reliability control of the solar wing, and needs to realize the sun-oriented high-precision servo control of the solar wing. Due to the complex motion pattern of the solar wing, the solar wing is generally required to be capable of responding to various commands and changing the posture of the solar wing according to various commands. The reliable redundant control is carried out on the large solar wing, and no technical scheme which can be directly referred to exists.
Disclosure of Invention
The invention aims to provide a space station solar wing reliable redundancy control system and method based on multi-instruction input, which can respond to various control instructions by switching in various response modes, meet the requirement of space station large solar wing on multi-instruction-based reliable redundancy control, and ensure the working stability of locking, unlocking and sun-oriented space station large solar wings.
In order to achieve the above object, the present invention provides a reliable redundant control system for solar wing of space station based on multi-command input, comprising:
the solar wing locking mechanism is connected with the solar wing and used for locking and unlocking the solar wing;
the solar wing driving mechanism is connected with the solar wing and is used for driving the solar wing to carry out sun-oriented motion;
the controller is arranged in the space station and comprises a solar wing locking mechanism control module and a solar wing driving mechanism control module;
the solar wing locking mechanism control module is connected between the control center and the solar wing locking mechanism in a signal mode, and drives the solar wing locking mechanism to lock the solar wing according to a bus instruction locking signal or a hard line instruction locking signal sent by the control center; the solar wing locking mechanism control module also drives the solar wing locking mechanism to unlock the solar wing according to a bus instruction unlocking signal or a hard line instruction unlocking signal sent by the control center; the solar wing locking mechanism control module also drives the solar wing locking mechanism to stop moving according to a bus instruction stalling signal or a hard line instruction stalling signal sent by the control center;
the solar wing driving mechanism control module is arranged between the control center and the solar wing driving mechanism in a signal connection way; and driving the solar wing driving mechanism according to a bus instruction driving signal or a GNC instruction driving signal or a hard line instruction driving signal sent by a control center, so as to realize the sun-facing directional movement of the solar wing.
The invention discloses a space station solar wing reliable redundancy control method based on multi-instruction input, which is realized by a space station solar wing reliable redundancy control system based on multi-instruction input and comprises the following steps:
s1, locking the solar wing, and entering S2; unlocking the solar wing, and entering S3; driving the solar wing to orient to the sun and entering S4;
s2, the solar wing locking mechanism control module drives the solar wing locking mechanism to lock the solar wing in real time according to the bus instruction locking signal or the hard line instruction locking signal sent by the control center;
s3, the solar wing locking mechanism control module drives the solar wing locking mechanism to unlock the solar wing in real time according to a bus instruction unlocking signal or a hard line instruction unlocking signal sent by the control center;
and S4, the solar wing driving mechanism control module drives the solar wing driving mechanism according to the GNC instruction driving signal or the bus instruction driving signal or the hard line instruction driving signal sent by the control center, so that the sun wing directionally moves to the sun.
Step S2 further includes:
in the locking process, if the solar wing locking mechanism control module receives a bus instruction stalling signal or a hard line instruction stalling signal sent by a control center, the solar wing locking mechanism control module drives the solar wing locking mechanism to stop working in real time.
Step S3 further includes:
in the unlocking process, if the solar wing locking mechanism control module receives a bus instruction stalling signal or a hard line instruction stalling signal sent by the control center, the solar wing locking mechanism control module drives the solar wing locking mechanism to stop working in real time.
Step S4 specifically includes:
the control module of the solar wing driving mechanism can drive the solar wing driving mechanism to realize sun-to-sun directional movement of the solar wing in any one mode of the three instruction modes, namely the S41, the GNC instruction control mode, the bus instruction control mode and the hard wire instruction control mode, which are mutually redundant and backup; when the solar wing driving mechanism control module works in the GNC command control mode, the operation goes to S42; when the solar wing driving mechanism control module works in the bus instruction control mode, the operation enters S43; when the control module of the solar wing driving mechanism works in a hard-line instruction control mode, the step S44 is entered;
s42, when the solar wing driving mechanism control module works in the GNC instruction control mode, the control module can be switched to a bus instruction control mode or a hard-line instruction control mode as required, and after the control module enters the bus instruction control mode or the hard-line instruction control mode, the GNC instruction control mode is automatically shielded, and the GNC instruction is not executed; if the GNC command control mode needs to be recovered, the GNC command control mode needs to be recovered immediately by sending a bus GNC control mode recovery command;
s43, when the control module of the solar wing driving mechanism works in a bus instruction control mode, if a bus instruction receiving fault occurs, switching to a hard-wire instruction control mode;
and S44, when the control module of the solar wing driving mechanism works in the hard wire instruction control mode, if the hard wire instruction receiving fault occurs, switching to the bus instruction control mode.
The GNC command driving signal is a signal which is continuously sent, and the sending period is 200 ms; the hard wire command driving signal is a low pulse level signal with the pulse width of 80 ms; the bus instruction driving signal is a single bus instruction signal sent randomly.
Compared with the prior art, the invention has the advantages that: the space station solar wing reliable redundancy control system based on multi-instruction input can receive and process various instruction signals (GNC instruction signals, bus instruction signals and hard line instruction signals), different types of instructions are mutually redundant and backup, and the instructions in different modes can be switched mutually, so that high-reliability redundancy control over large solar wings is realized, and the working stability of the solar wings is ensured.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, and it is obvious that the drawings in the following description are an embodiment of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts according to the drawings:
FIG. 1 is a schematic structural diagram of a reliable redundant control system of a solar wing of a space station based on multi-command input, according to the invention;
FIG. 2 is a flow chart of a reliable redundancy control method of a solar wing of a space station based on multi-instruction input according to the invention;
in the figure: 1. a solar wing locking mechanism control module; 2. a solar wing drive mechanism control module; 3. a solar wing locking mechanism; 4. a sun wing drive mechanism; 5. a solar wing.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a space station solar wing reliable redundancy control system based on multi-instruction input, as shown in figure 1, comprising: a sun wing locking mechanism 3, a sun wing driving mechanism 4 and a controller.
The solar wing locking mechanism 3 is connected with the solar wing 5 and used for locking and unlocking the solar wing 5;
the solar wing driving mechanism 4 is connected with the solar wing 5 and is used for driving the solar wing 5 to do sun-oriented motion;
the controller is arranged in the space station and comprises a solar wing locking mechanism 3 control module 1 and a solar wing driving mechanism control module 2;
the control module 1 of the solar wing locking mechanism 3 is connected between the control center and the solar wing locking mechanism 3 through signals, and drives the solar wing locking mechanism 3 to lock the solar wing 5 according to a bus instruction locking signal or a hard line instruction locking signal sent by the control center; the control module 1 of the solar wing locking mechanism 3 also drives the solar wing locking mechanism 3 to unlock the solar wing 5 according to a bus instruction unlocking signal or a hard line instruction unlocking signal sent by the control center; the control module 1 of the solar wing locking mechanism 3 also drives the solar wing locking mechanism 3 to stop moving according to a bus instruction stalling signal or a hard line instruction stalling signal sent by a control center;
the solar wing locking mechanism 3 of the invention controls the module 1 to work in two modes of a bus mode and a hard wire mode and can be switched with each other in the two modes at any time. In the bus mode, the solar wing locking mechanism 3 controls the module 1 to work according to a bus instruction locking signal, a bus instruction unlocking signal and a bus instruction stalling signal; in the hard-line mode, the control module 1 of the solar wing locking mechanism 3 works according to a hard-line instruction locking signal, a hard-line instruction unlocking signal and a hard-line instruction stalling signal.
Specifically, when the solar wing 5 is locked, the solar wing 5 is locked by a bus instruction locking signal or a hard line instruction locking signal received by the control module 1 of the solar wing locking mechanism 3, at this time, the bus instruction locking signal and the hard line instruction locking signal have the same priority, and the control module 1 of the solar wing locking mechanism 3 immediately performs locking of the solar wing 5 when receiving any one of the bus instruction locking signal and the hard line instruction locking signal. In the locking process, when any one of the bus command stalling signal and the hard line command stalling signal is received, the sun wing locking mechanism 3 immediately drives the sun wing locking mechanism 3 to stop working.
Similarly, when the solar wing 5 is unlocked, the solar wing 5 is unlocked through the bus instruction unlocking signal or the hard line instruction unlocking signal received by the control module 1 of the solar wing locking mechanism 3, at this time, the bus instruction unlocking signal and the hard line instruction unlocking signal have the same priority, and the control module 1 of the solar wing locking mechanism 3 immediately executes unlocking of the solar wing 5 when receiving any one of the bus instruction unlocking signal and the hard line instruction unlocking signal. In the unlocking process, if any one of the bus instruction stalling signal and the hard line instruction stalling signal is received, the sun wing unlocking mechanism immediately drives the sun wing locking mechanism 3 to stop working.
The solar wing driving mechanism control module 2 is connected between the control center and the solar wing driving mechanism 4 through signals; and driving the solar wing driving mechanism 4 according to a bus instruction driving signal, a GNC (Guidance Navigation and Control) instruction driving signal and a hard wire instruction driving signal sent by a Control center, so as to realize the sun-oriented movement of the solar wing 5. The GNC command driving signal is a bus command issued by a GNC system of the control center, is a signal which is continuously sent, and has a sending period of 200 ms. The solar wing 5 mainly comprises the following components: the solar wing 5 performs the actions of directional tracking, capturing, servo, starting, zeroing and the like on the sun. The solar wing driving mechanism control module 2 can drive the solar wing driving mechanism 4 according to the received bus instruction driving signal, the received GNC instruction driving signal and the received hard wire instruction driving signal under three modes of a GNC mode, a bus mode and a hard wire mode, so that the sun-oriented movement of the solar wing is realized. The three modes can be switched with each other at any time.
The invention also provides a space station solar wing reliable redundancy control method based on multi-instruction input, which is realized by adopting the space station solar wing reliable redundancy control system based on multi-instruction input, and as shown in figure 2, the method comprises the following steps:
s1, locking the solar wing 5, and entering S2; unlocking the solar wing 5 and entering S3; driving the solar wings 5 to orient the sun, and entering S4;
s2, the control module 1 of the solar wing locking mechanism 3 drives the solar wing locking mechanism 3 to lock the solar wing 5 in real time according to the bus instruction locking signal or the hard line instruction locking signal sent by the control center;
in the locking process, if the control module 1 of the solar wing locking mechanism 3 receives a bus instruction stalling signal or a hard line instruction stalling signal sent by a control center, the control module 1 of the solar wing locking mechanism 3 drives the solar wing locking mechanism 3 to stop working in real time.
S3, the control module 1 of the solar wing locking mechanism 3 drives the solar wing locking mechanism 3 to unlock the solar wing 5 in real time according to a bus instruction unlocking signal or a hard line instruction unlocking signal sent by the control center;
in the unlocking process, if the control module 1 of the solar wing locking mechanism 3 receives a bus instruction stalling signal or a hard line instruction stalling signal sent by a control center, the control module 1 of the solar wing locking mechanism 3 drives the solar wing locking mechanism 3 to stop working in real time.
And S4, the solar wing driving mechanism control module 2 drives the solar wing driving mechanism 4 according to the GNC instruction driving signal or the bus instruction driving signal or the hard line instruction driving signal sent by the control center, so that the sun-oriented movement of the solar wings 5 is realized.
Step S4 specifically includes:
the three instruction modes of the S41, the GNC instruction control mode, the bus instruction control mode and the hard line instruction control mode are mutually redundant and backup, and the solar wing driving mechanism control module 2 can drive the solar wing driving mechanism 4 to realize the sun-facing directional movement of the solar wing in any one mode; when the solar wing driving mechanism control module 2 works in the GNC command control mode, the operation goes to S42; when the solar wing driving mechanism control module 2 works in the bus instruction control mode, the operation goes to S43; when the solar wing driving mechanism control module 2 works in the hard-line instruction control mode, the operation goes to S44;
s42, when the solar wing driving mechanism control module 2 works in the GNC instruction control mode, the control module can be switched to a bus instruction control mode or a hard-line instruction control mode as required, and after the control module enters the bus instruction control mode or the hard-line instruction control mode, the GNC instruction control mode is automatically shielded, and the GNC instruction is not executed; if the GNC command control mode needs to be recovered, the GNC command control mode needs to be recovered immediately by sending a bus GNC control mode recovery command;
s43, when the solar wing driving mechanism control module 2 works in the bus instruction control mode, if a bus instruction receiving fault occurs, switching to the hard line instruction control mode;
and S44, when the solar wing driving mechanism control module 2 works in the hard-wire instruction control mode, if a hard-wire instruction receiving fault occurs, switching to the bus instruction control mode.
In another application example of the present invention, in step S43, the solar wing driving mechanism control module 2 continues to detect whether the GNC command driving signal is received while receiving the hard-wired command driving signal sent by the control center, and upon receiving the GNC command driving signal, the solar wing driving mechanism control module 2 automatically enters the GNC mode, and does not respond to the received hard-wired command driving signal, but drives the solar wing 5 according to the GNC command driving signal. At this time, the GNC command drive signal has a higher priority than the hard-wired command drive signal.
Compared with the prior art, the invention has the advantages that: the space station solar wing reliable redundancy control system based on multi-instruction input can receive and process various instruction signals (GNC instruction signals, bus instruction signals and hard line instruction signals), different types of instructions are mutually redundant and backup, and the instructions in different modes can be switched mutually, so that the high-reliability redundancy control of the large solar wing 5 is realized, and the working stability of the solar wing 5 is ensured.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. A space station solar wing reliable redundancy control method based on multi-instruction input is characterized by comprising the following steps:
s1, locking the solar wing, and entering S2; unlocking the solar wing, and entering S3; driving the solar wing to orient to the sun and entering S4;
s2, the solar wing locking mechanism control module drives the solar wing locking mechanism to lock the solar wing in real time according to the bus instruction locking signal or the hard line instruction locking signal sent by the control center;
s3, the solar wing locking mechanism control module drives the solar wing locking mechanism to unlock the solar wing in real time according to a bus instruction unlocking signal or a hard line instruction unlocking signal sent by the control center;
s4, the solar wing driving mechanism control module drives the solar wing driving mechanism according to the GNC instruction driving signal or the bus instruction driving signal or the hard line instruction driving signal sent by the control center, so that the sun-facing directional movement of the solar wing is realized;
step S4 includes:
the control module of the solar wing driving mechanism can drive the solar wing driving mechanism to realize sun-facing directional movement of the solar wing in any one mode of the three instruction modes, namely S41, GNC instruction control mode, bus instruction control mode and hard line instruction control mode, which are mutually redundant and backup; when the solar wing driving mechanism control module works in the GNC command control mode, the operation goes to S42; when the control module of the solar wing driving mechanism works in a bus instruction control mode, the operation enters S43; when the control module of the solar wing driving mechanism works in a hard-line instruction control mode, the step S44 is entered;
s42, when the solar wing driving mechanism control module works in the GNC instruction control mode, the control module can be switched to a bus instruction control mode or a hard-line instruction control mode as required, and after the control module enters the bus instruction control mode or the hard-line instruction control mode, the GNC instruction control mode is automatically shielded, and the GNC instruction is not executed; if the GNC instruction control mode needs to be recovered, the GNC instruction control mode needs to be recovered immediately by sending a bus GNC control mode recovery instruction;
s43, when the control module of the solar wing driving mechanism works in a bus instruction control mode, if a bus instruction receiving fault occurs, switching to a hard-wire instruction control mode;
and S44, when the control module of the solar wing driving mechanism works in the hard-wire instruction control mode, if the hard-wire instruction receiving fault occurs, switching to the bus instruction control mode.
2. The method for reliable redundant control of solar wings in space station based on multiple command inputs as claimed in claim 1, wherein step S2 further comprises:
in the locking process, if the solar wing locking mechanism control module receives a bus instruction stalling signal or a hard line instruction stalling signal sent by the control center, the solar wing locking mechanism control module drives the solar wing locking mechanism to stop working in real time.
3. The method for reliable redundant control of solar wings in space station based on multiple command inputs as claimed in claim 2, wherein step S3 further comprises:
in the unlocking process, if the solar wing locking mechanism control module receives a bus instruction stalling signal or a hard line instruction stalling signal sent by the control center, the solar wing locking mechanism control module drives the solar wing locking mechanism to stop working in real time.
4. The method for reliable redundant control of solar wings of space station based on multiple command inputs as claimed in claim 1, wherein the GNC command driving signal is a continuously transmitted signal with a transmission period of 200 ms; the hard wire command driving signal is a low pulse level signal with the pulse width of 80 ms; the bus instruction driving signal is a single bus instruction signal sent randomly.
5. A space station solar wing reliable redundancy control system based on multi-command input, which is used for realizing the space station solar wing reliable redundancy control method based on multi-command input according to any one of claims 1 to 4, and is characterized by comprising the following steps:
the solar wing locking mechanism is connected with the solar wing and used for locking and unlocking the solar wing;
the solar wing driving mechanism is connected with the solar wing and is used for driving the solar wing to carry out sun-oriented motion;
the controller is arranged in the space station and comprises a solar wing locking mechanism control module and a solar wing driving mechanism control module;
the solar wing locking mechanism control module is connected between the control center and the solar wing locking mechanism in a signal mode, and drives the solar wing locking mechanism to lock the solar wing according to a bus instruction locking signal or a hard line instruction locking signal sent by the control center; the solar wing locking mechanism control module also drives the solar wing locking mechanism to unlock the solar wing according to a bus instruction unlocking signal or a hard line instruction unlocking signal sent by the control center; the solar wing locking mechanism control module also drives the solar wing locking mechanism to stop moving according to a bus instruction stalling signal or a hard line instruction stalling signal sent by the control center;
the solar wing driving mechanism control module is arranged between the control center and the solar wing driving mechanism in a signal connection way; and driving the solar wing driving mechanism according to a bus instruction driving signal or a GNC instruction driving signal or a hard line instruction driving signal sent by a control center, so as to realize the sun-oriented movement of the solar wing.
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| CN112591152B (en) * | 2020-12-01 | 2023-01-31 | 上海航天控制技术研究所 | Space station solar wing control system |
| CN113653768B (en) * | 2021-08-27 | 2022-10-25 | 重庆大学 | Sun-oriented solar wing driving device |
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| CN103950558A (en) * | 2014-04-14 | 2014-07-30 | 浙江理工大学 | Fan-shaped solar wing repetitive folding and unfolding mechanism |
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| CN201545193U (en) * | 2009-11-26 | 2010-08-11 | 浙江理工大学 | Solar wing double-stage spiral repeated folding-deploying locking-unlocking mechanism |
| CN106483872B (en) * | 2015-08-26 | 2018-12-28 | 上海宇航系统工程研究所 | Simulate the precision judge method of flexible solar wing driving dynamics simulation testing stand |
| CN105480437B (en) * | 2015-11-30 | 2017-12-29 | 上海卫星工程研究所 | A kind of solar wing layout structure of high-precision spacecraft |
| CN106970573B (en) * | 2017-05-22 | 2019-03-15 | 上海航天控制技术研究所 | A kind of spacecraft solar wing drive control system of permanent magnet synchronous motor |
| CN107757952B (en) * | 2017-10-09 | 2023-05-30 | 长光卫星技术股份有限公司 | Microsatellite solar wing span unlocking and fixing device |
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