CN111273692B - Autonomous diagnosis method for formation configuration control strategy - Google Patents
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention relates to an autonomous diagnosis method for formation configuration control strategies, which comprises the following specific steps: step 1, before a formation control strategy is calculated, the satellite performs state check related to the strategy; step 2 the satellite is based on the current formation configuration parametersFor the control strategy Deltav i Performing correctness autonomous diagnosis; if the diagnosis is passed, the next step is carried out; otherwise, setting an alarm mark; step 3 control speed increment sequence Deltav i After diagnosis, according to the current on-board time, the actual thrust of the thruster and the satellite mass, deltav is calculated i Conversion to a control instruction sequence (Tp i ，Lt i ) And performing autonomous diagnosis of control instruction correctness; if the diagnosis is passed, executing the instruction; otherwise, setting an alarm mark.
Description
Technical Field
The invention relates to the technical field of satellite high-precision formation/orbit control, in particular to an autonomous diagnosis method for formation configuration control strategies.
Background
With the continuous expansion of the on-orbit application range of the formation satellites, the complex application brings higher demands on the control precision and the automation level of the formation satellites. Particularly, high formation control precision is required to be ensured by high control frequency, and the conventional ground-dependent control mode is not suitable for new development, so that the urgency of autonomous formation control is further stimulated. The precondition of the formation control autonomy is the correctness of the control instruction, so the formation control strategy autonomy diagnosis is a necessary element for ensuring the automation correctness of the formation control. The existing formation control research results often pay attention to the data validity diagnosis and control strategy design of the measurement sensor, and lack of a full-flow design for autonomous formation strategy diagnosis.
Disclosure of Invention
The invention solves the technical problems that: the automatic diagnosis method for the formation configuration control strategy is provided, the full-flow diagnosis from the control strategy to the control instruction can be carried out according to the characteristics of formation control, and the correct and effective implementation of the formation control can be ensured.
The invention is realized by the following technical scheme:
an autonomous diagnostic method for a formation configuration control strategy, comprising the steps of:
step 1, before a formation control strategy is calculated, the satellite performs state check related to the strategy;
step 2, the satellite controls the strategy Deltav according to the current formation configuration parameters i Performing correctness autonomous diagnosis; if the diagnosis is passed, the next step is carried out; otherwise, setting an alarm mark;
step 3 control speed increment sequence Deltav i After diagnosis, according to the current on-board time, the actual thrust of the thruster and the satellite mass, deltav is calculated i Conversion to a control instruction sequence (Tp i ，Lt i ) And performing autonomous diagnosis of control instruction correctness; if the diagnosis is passed, executing the instruction; otherwise, setting an alarm mark.
The specific process of performing the state check related to the policy in the step 1 is as follows: checking and measuring the normal work of the sensor, the on-board computer and the formation thruster, and generating a control speed increment sequence Deltav after the relative and absolute navigation reach steady states i The method comprises the steps of carrying out a first treatment on the surface of the Wherein Deltav i Representing the speed increment that the ith need provides in the sequence of control speed increments.
The formation configuration parameters in the step 2 include a modulus p of the relative eccentricity vector and an orbit semi-major axis deviation average deltaa of the auxiliary star relative to the main star.
The diagnostic conditions in step 2 are: when (condition 1) and (condition 2) and (condition 3), the diagnosis is passed; the specific conditions are as follows:
condition 1: sigma delta v i |<a
Condition 2: sigma Deltav i |<b or ΣΔv i |>c
Condition 3: (Deltav) 1 ×Δv 2 ...×Δv i )<0
Wherein Σ|Δv i The I represents the sum of the modular values of all speed increments controlled by the formation at this time; sigma Deltav i The I represents the module value of the accumulation sum of all speed increment controlled by the formation at this time; the threshold constants a, b, c are calculated as follows: a=0.12·p, b=0.0017·Δa, c=0.0011·Δa c 。
The diagnosis conditions in the step 3 are as follows: (condition 4) and (condition 5) indicating that the diagnosis is passed; the specific conditions are as follows:
condition 4: sigma Lt i <d
Condition 5: tp (Tp) 1 <Tp 2 …<Tp i
Wherein Tp i Indicating the start time of the ith control in the control sequence; lt (Lt) i The control duration of the ith control in the control sequence, namely the control duration period; sigma Lt i The accumulated sum of all jet time lengths of the formation control sequence is represented; d represents a threshold constant.
The threshold constant d calculating method comprises the following steps:
f is theoretical thrust, and eta is a threshold coefficient.
The beneficial effects of the invention are as follows: aiming at the characteristics of formation control problems, the invention provides conditions for autonomously executing formation control, and realizes the autonomous diagnosis of formation control strategies from two levels of a control speed increment sequence and a control instruction sequence of formation control, and the strategy after diagnosis can ensure that the control process is normal and the error control condition affecting the safety of two stars does not occur.
1. The process is clear, and the engineering realizability is strong: and a quantized control strategy and control instruction diagnosis conditions are provided by combining formation task working conditions, so that the method has good engineering realizability.
2. The method is simple and is realized on the satellite: the method has simple flow and definite process, and can realize the full-flow autonomous diagnosis from strategy to instruction of formation control on-board autonomously.
Drawings
FIG. 1 is a flow chart of a method for autonomous diagnostics of a control strategy for formation configuration.
Figure 2 illustrates a schematic diagram of a formation satellite control implementation.
Detailed Description
As shown in fig. 1 and 2, aiming at the defects existing in the prior art, the invention provides an autonomous diagnosis method for formation control strategies, which can ensure that formation control is correctly and effectively implemented independently according to the overall process diagnosis from the control strategies to control instructions according to the characteristics of formation control. The invention is further described in detail below with reference to the accompanying drawings.
In order to achieve the above purpose, the present invention is realized by the following technical scheme:
step 1, before the satellite calculates the formation control strategy, the satellite performs a state check related to the strategy: checking and measuring the normal work of the sensor, the on-board computer and the formation thruster, and generating a control speed increment sequence Deltav after the relative/absolute navigation reaches a stable state i . Wherein Deltav i Representing the speed increment which is required to be provided for the ith time in the control speed increment sequence;
step 2 the satellite adjusts the quantity of the semi-long axis adjustment delta a of the satellite according to the current formation configuration parameter (the module value p of the relative eccentricity vector, the orbit semi-long axis deviation mean delta a of the auxiliary satellite relative to the main satellite) c . For control strategy Deltav i And (3) performing correctness autonomous diagnosis, wherein the diagnosis conditions are as follows: (condition 1) AND (condition 2) AND (condition 3); if the diagnosis is passed, the next step is carried out; otherwise, setting an alarm mark;
condition 1: sigma delta v i |<a
Condition 2: sigma Deltav i |<b or ΣΔv i |>c
Condition 3: (Deltav) 1 ×Δv 2 ...×Δv i )<0 (1)
Wherein Σ|Δv i The I represents the sum of the modular values of all speed increments controlled by the formation at this time; sigma Deltav i The I represents the module value of the accumulation sum of all speed increment controlled by the formation at this time; the threshold constants a, b, c are calculated as follows: a=0.12·p, b=0.0017·Δa, c=0.0011·Δa c 。
Description: deltav i Representing the speed increment that the ith need provides in the sequence of control speed increments. Typically 1 set of crew controls may consist of 1 to 5 jets. Condition 1 applies to all formation control tasks (e.g., formation initialization, formation maintenance, formation reconfiguration, etc.), mainly determined by constraint balancing considerations such as arc loss effects and formation configuration size. Condition 2 is determined by the specific formation task, e.g., control selection |ΣΔvfor adjusting inter-satellite phase in formation initialization or reconstruction tasks i |>c, condition; task selection ΣΔv for formation holding i |<b condition. Condition 3 is mainly directed to formation maintenance tasks, and because of the task characteristics, the direction of 1 group of control multiple air jets should be different.
Step 3 control speed increment sequence Deltav i After diagnosis, the satellite transmits Deltav according to the current on-board time, the actual thrust of the thruster and the satellite mass i Conversion to a control instruction sequence (Tp i ，Lt i ) And performing control instruction correctness autonomous diagnosis, wherein the diagnosis conditions are as follows: (condition 4) AND (condition 5); if the diagnosis is passed, executing the instruction; otherwise, setting an alarm mark.
Condition 4: sigma Lt i <d
Condition 5: tp (Tp) 1 <Tp 2 …<Tp i (2)
Wherein Tp i Indicating the start time of the ith control in the control sequence; lt (Lt) i Representing the control duration of the ith control in the control sequence, i.e. the control durationA segment; sigma Lt i The accumulated sum of all jet time lengths of the formation control sequence is represented; d represents a threshold constant, and the calculation method is as follows:
f is theoretical thrust, eta is a threshold coefficient, and the normal value is 2.
Description: condition 4 is essentially equivalent to condition 1. Considering that the conversion of the control strategy into the control command involves calculation of the propulsion of the autonomous on-board thruster and the satellite mass, it is necessary to introduce the condition 4 to indirectly diagnose the calculation result of the propulsion of the autonomous on-board thruster and the satellite mass. Condition 5 indicates that the control instructions should be arranged in ascending order in time sequence.
While the present invention has been described in detail through the foregoing description of the preferred embodiment, it should be understood that the foregoing description is not to be considered as limiting the invention. Many modifications and substitutions of the present invention will become apparent to those of ordinary skill in the art upon reading the foregoing. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (3)
1. An autonomous diagnostic method for a formation configuration control strategy, comprising the steps of:
step 1, before a formation control strategy is calculated, the satellite performs state check related to the strategy;
the specific process of performing the state check related to the policy in the step 1 is as follows: checking and measuring the normal work of the sensor, the on-board computer and the formation thruster, and generating a control speed increment sequence Deltav after the relative and absolute navigation reach steady states i The method comprises the steps of carrying out a first treatment on the surface of the Wherein Deltav i Representing the speed increment which is required to be provided for the ith time in the control speed increment sequence;
step 2, the satellite controls the strategy Deltav according to the current formation configuration parameters i Performing correctness autonomous diagnosis; if the diagnosis is passed, the next step is carried out; otherwise, setting an alarm mark;
the formation configuration parameters in the step 2 comprise a module value p of a relative eccentricity vector and an orbit semi-major axis deviation average value deltaa of the auxiliary star relative to the main star;
the diagnostic conditions in step 2 are: under conditions 1, 2 and 3, the diagnosis is passed; the specific conditions are as follows:
condition 1: sigma delta v i |＜a
Condition 2: sigma Deltav i | < b or |ΣΔv i |＞c
Condition 3: (Deltav) 1 ×Δv 2 ...×Δv i )＜0
Wherein Σ|Δv i The I represents the sum of the modular values of all speed increments controlled by the formation at this time; sigma Deltav i The I represents the module value of the accumulation sum of all speed increment controlled by the formation at this time; the threshold constants a, b, c are calculated as follows: a=0.12·p, b=0.0017·Δa, c=0.0011·Δa;
step 3 control speed increment sequence Deltav i After diagnosis, according to the current on-board time, the actual thrust of the thruster and the satellite mass, deltav is calculated i Conversion to a control instruction sequence (Tp i ，Lt i ) And performing autonomous diagnosis of control instruction correctness; if the diagnosis is passed, executing the instruction; otherwise, setting an alarm mark.
2. A method of autonomous diagnostics of a formation control strategy according to claim 1, wherein: the diagnosis conditions in the step 3 are as follows: condition 4 and condition 5, indicating that the diagnosis is passed; the specific conditions are as follows:
condition 4: sigma Lt i ＜d
Condition 5: tp (Tp) 1 <Tp 2 …<Tp i
Wherein Tp i Indicating the start time of the ith control in the control sequence; lt (Lt) i The control duration of the ith control in the control sequence, namely the control duration period; sigma Lt i The accumulated sum of all jet time lengths of the formation control sequence is represented; d represents a threshold constant.
3. A formation configuration control strategy autonomy according to claim 2A diagnostic method characterized by: the threshold constant d calculating method comprises the following steps:
f is theoretical thrust, and eta is a threshold coefficient. />
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| CN103092212A (en) * | 2013-01-08 | 2013-05-08 | 天津大学 | Emulation verification platform and implementing method of micro-satellite team formation system |
| CN106227225A (en) * | 2016-08-25 | 2016-12-14 | 上海微小卫星工程中心 | Spacecraft coplanar formation accompanying flying configuration control method |
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| CN107065930A (en) * | 2017-06-01 | 2017-08-18 | 上海航天控制技术研究所 | A kind of strict regression orbit control method of Complex Constraints |
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| CN110377047B (en) * | 2019-06-03 | 2022-08-02 | 上海航天控制技术研究所 | Anti-collision method for formation of double-satellite satellites |
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| CN103092212A (en) * | 2013-01-08 | 2013-05-08 | 天津大学 | Emulation verification platform and implementing method of micro-satellite team formation system |
| CN106227225A (en) * | 2016-08-25 | 2016-12-14 | 上海微小卫星工程中心 | Spacecraft coplanar formation accompanying flying configuration control method |
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