CN111553056B - Task and risk oriented satellite typical function structure hierarchy health degree assessment method - Google Patents

Task and risk oriented satellite typical function structure hierarchy health degree assessment method Download PDF

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CN111553056B
CN111553056B CN202010300254.0A CN202010300254A CN111553056B CN 111553056 B CN111553056 B CN 111553056B CN 202010300254 A CN202010300254 A CN 202010300254A CN 111553056 B CN111553056 B CN 111553056B
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health degree
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subsystem
risk
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吕琛
许庶
陶来发
王自力
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Beihang University
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Abstract

A task and risk oriented satellite canonical functional structure hierarchy health assessment method, the method comprising: determining each task which needs to be executed by the satellite; determining a functional structure diagram of a satellite hierarchy when the satellite performs each task, wherein the functional structure diagram of the satellite hierarchy comprises a plurality of subsystems; evaluating the task health degree and the risk health degree of the satellite level of each task by utilizing a functional structure block diagram of the satellite level when the satellite executes each task; weighting and accumulating the task health degree of the satellite level of each task to obtain the satellite task health degree, and weighting and accumulating the risk health degree of the satellite level of each task to obtain the satellite risk health degree; and comprehensively evaluating the health state of the satellite according to the satellite task health degree and the satellite risk health degree.

Description

Task and risk oriented satellite typical function structure hierarchy health degree assessment method
Technical Field
The invention relates to the field of satellites, in particular to a task and risk oriented satellite typical function structure hierarchy health degree assessment method.
Background
The satellite has the characteristics of long on-orbit operation time, difficult tasks, unknown working environment and the like, and along with the annual increase of the number of satellites and the updating and upgrading of satellite systems in recent years, the structure and the function of the satellite are increasingly complex and diverse, the integration level is high, the fault mode is complex and changeable, and the failure rate of the single machine, the system and other composition structures is increased. Therefore, the existing satellite monitoring system can not meet the requirement of high-reliability task realization of the current satellite. Meanwhile, the task completion capability of a single machine or a system is mainly concerned by the traditional satellite state monitoring and health degree calculation, the concept of level evaluation is not introduced into the satellite health degree calculation process, and the consideration of risk consequences caused by satellite task failure or equipment failure and the like is lacked.
An on-orbit satellite health state evaluation method based on the reconfigurable degree is provided, and the influence of structural characteristics of high redundancy, reconfiguration, nonlinearity and the like of a satellite on the system health state is described by a reconfigurable degree index. On the component level, a non-parametric regression method is adopted to evaluate the health state by synthesizing multiple parameters. From a component level to a system level, a system structure tree model based on the reconfigurable degree is established for weighted synthesis, and the health state evaluation of the satellite multi-level system is realized. When the health degree of a satellite multilevel system is calculated, the reconstruction degree is manually simplified and set to be 0 and 1, the physical significance of various system structures is weakened, only a system with one reconstruction degree is researched, and the method has certain limitations. The invention provides a task and risk oriented satellite typical function structure health assessment method, which respectively analyzes systems with different composition structures in detail, fully considers the physical meanings of different function structures and the influence on the health state of the upper level, reduces the degree of interference of an assessment result by human setting, and improves the assessment accuracy.
Disclosure of Invention
The embodiment of the invention provides a task and risk oriented health assessment method for a satellite typical function structure hierarchy, which is used for realizing health assessment of each hierarchy of a satellite.
According to the embodiment of the invention, a task and risk oriented satellite typical function structure level health degree assessment method is provided, and comprises the following steps:
determining each task required to be executed by the satellite;
determining a functional structure block diagram of a satellite level when the satellite performs each task, wherein the functional structure block diagram of the satellite level comprises a plurality of subsystems;
evaluating the task health degree and the risk health degree of the satellite level of each task by utilizing a functional structure block diagram of the satellite level when the satellite executes each task;
weighting and accumulating the task health degree of the satellite level of each task to obtain the satellite task health degree, and weighting and accumulating the risk health degree of the satellite level of each task to obtain the satellite risk health degree;
and comprehensively evaluating the health state of the satellite according to the satellite task health degree and the satellite risk health degree, namely evaluating the overall health state of the satellite.
Preferably, the task health of the satellite hierarchy of each task is a measure of the ability of the satellite to complete each task; the risk health degree of the satellite hierarchy of each task is a capacity measurement value of the satellite capable of bearing risks in the execution process of each task; the satellite task health degree is a comprehensive capability measurement value of the satellite for completing each task; the satellite risk health degree is a comprehensive capacity measurement value of the satellite capable of bearing risks in the execution process of each task.
Preferably, the functional structure diagram of the satellite hierarchy when each task is executed by using a satellite, and the evaluation of the task health and the risk health of the satellite hierarchy of each task comprises:
for any task which needs to be executed by the satellite, determining the task health degree and the risk health degree of each subsystem in a functional structure diagram of a satellite level;
and determining the task health degree and the risk health degree of the satellite hierarchy of each task according to a series-parallel connection structure among the subsystems and the task health degree and the risk health degree of each subsystem, which are included in the functional structure block diagram of the satellite hierarchy.
Preferably, each subsystem comprises one or more single machines, and the determining the task health degree and the risk health degree of each subsystem included in the functional structure diagram of the satellite hierarchy comprises:
for any subsystem in the functional structure block diagram of the satellite hierarchy, acquiring the task health degree and the risk health degree of each single machine in the subsystem;
if the subsystem comprises a single machine, taking the task health degree of the single machine as the task health degree of the subsystem, and taking the risk health degree of the single machine as the risk health degree of the subsystem;
And if the subsystem comprises a plurality of single machines, determining the task health degree and the risk health degree of the subsystem according to a series-parallel connection structure among the plurality of single machines included in the subsystem and the task health degree and the risk health degree of each single machine.
Preferably, the task health degree of each single machine is a capability metric value of each single machine for completing each task; the risk health degree of each single machine is a capacity measurement value of each single machine capable of bearing the risk in the execution process of each task; wherein the task health degree and the risk health degree of the single machine are equal to the basic health degree of the single machine.
Preferably, the determining the task health degree and the risk health degree of the subsystem according to the series-parallel connection structure among the plurality of units included in the subsystem and the task health degree and the risk health degree of each unit includes:
if a plurality of single machines in the subsystem are connected in series, determining the task health degree and the risk health degree of the subsystem according to a hierarchy series structure strategy of the subsystem and the task health degree and the risk health degree of each single machine in the subsystem;
if a plurality of single machines in the subsystem are connected in parallel, determining the task health degree and the risk health degree of the subsystem according to a subsystem hierarchical parallel structure strategy and the task health degree and the risk health degree of each single machine in the subsystem;
And if the plurality of single machines in the subsystem are connected in series and in parallel, determining the risk health degree of the subsystem according to the hierarchy series and parallel structure strategies of the subsystem and the task health degree and risk health degree of each single machine in the subsystem.
Preferably, the subsystem hierarchy series structure strategy is formulated as:
Figure BDA0002453719040000041
Figure BDA0002453719040000042
wherein h issubsystemAnd rhsubsystemRespectively the task health degree and the risk health degree of the subsystem; n is the number of single machines in the subsystem;
Figure BDA0002453719040000043
and
Figure BDA0002453719040000044
the task health degree and the risk health degree of the ith single machine in the subsystem are respectively;
the strategy of the subsystem hierarchical parallel structure is expressed by a formula as follows:
Figure BDA0002453719040000045
Figure BDA0002453719040000046
wherein h issubsystemAnd rhsubsystemRespectively the task health degree and the risk health degree of the subsystem; n is the number of single machines in the subsystem;
Figure BDA0002453719040000047
and
Figure BDA0002453719040000048
the task health degree and the risk health degree of the ith single machine in the subsystem are respectively;
the hierarchy series and parallel structure strategies of the subsystems are as follows: determining the task health degree and the risk health degree of each parallel structure in the subsystem according to the hierarchy parallel structure strategy of the subsystem and the task health degree and the risk health degree of each single machine in the parallel structure; and determining the task health degree and the risk health degree of the subsystem according to the hierarchy series structure strategy of the subsystem and the task health degree and the risk health degree of each single machine and each parallel structure connected in series.
Preferably, the determining the task health degree and the risk health degree of the satellite hierarchy of each task according to the serial-parallel connection structure among the subsystems included in the functional structure block diagram of the satellite hierarchy and the task health degree and the risk health degree of each subsystem includes:
if the subsystems are connected in series, determining the task health degree and the risk health degree of the satellite hierarchy of each task according to a satellite hierarchy series structure strategy and the task health degree and the risk health degree of each subsystem;
if the subsystems are connected in parallel, determining the task health degree and the risk health degree of the satellite hierarchy of each task according to a satellite hierarchy parallel structure strategy and the task health degree and the risk health degree of each subsystem;
and if the subsystems are connected in series and in parallel, determining the task health degree and the risk health degree of the satellite hierarchy of each task according to the satellite hierarchy series and parallel structure strategies and the task health degree and the risk health degree of each subsystem.
Preferably, the satellite hierarchy tandem structure strategy is formulated as:
Figure BDA0002453719040000051
Figure BDA0002453719040000052
wherein the content of the first and second substances,
Figure BDA0002453719040000053
and
Figure BDA0002453719040000054
the task health degree and the risk health degree of the satellite level of the kth task are respectively; m is the number of subsystems in the functional structure diagram of the satellite level of the kth task;
Figure BDA0002453719040000055
And
Figure BDA0002453719040000056
are respectively provided withThe task health degree and the risk health degree of the ith subsystem;
the satellite level parallel structure strategy is expressed by a formula as follows:
Figure BDA0002453719040000057
Figure BDA0002453719040000058
wherein the content of the first and second substances,
Figure BDA0002453719040000059
and
Figure BDA00024537190400000510
the task health degree and the risk health degree of the satellite level of the kth task are respectively; m is the number of subsystems in the functional structure diagram of the satellite level of the kth task;
Figure BDA00024537190400000511
and
Figure BDA00024537190400000512
the task health degree and the risk health degree of the ith subsystem are respectively;
the satellite hierarchy series and parallel structure strategy specifically comprises the following steps: determining the task health degree and the risk health degree of each parallel structure in a satellite hierarchy according to a satellite hierarchy parallel structure strategy and the task health degree and the risk health degree of each subsystem in the parallel structure; and determining the task health degree and the risk health degree of the satellite hierarchy of the task according to the strategy of the satellite hierarchy series structure and the task health degree and the risk health degree of each subsystem and each parallel structure which are connected in series.
Preferably, the task health degree of the satellite hierarchy of each task is weighted and accumulated to obtain the satellite task health degree h, the risk health degree of the satellite hierarchy of each task is weighted and accumulated to obtain the satellite risk health degree rh, and the weighting and accumulation processing is realized by the following formula:
Figure BDA0002453719040000061
Figure BDA0002453719040000062
Figure BDA0002453719040000063
Wherein p is the number of tasks required to be executed by the satellite; a iskThe weight of the kth task in all tasks;
Figure BDA0002453719040000064
and
Figure BDA0002453719040000065
task health and risk health of the satellite hierarchy, respectively, for the kth task.
Preferably, the comprehensively evaluating the health status of the satellite according to the satellite task health degree and the satellite risk health degree comprises:
according to the satellite task health degree, evaluating the comprehensive capability of the satellite to complete each task;
and evaluating the comprehensive capability of the satellite for bearing the risks in the execution process of each task according to the risk health degree of the satellite.
According to the satellite typical function structure health assessment method facing tasks and risks, comprehensive measurement of task completion capability and risk bearing capability of each level of the satellite is achieved through a method combining quantitative analysis and qualitative analysis, a basis is provided for further executing fault-tolerant control and maintenance decision of each system or single machine and task allocation of the satellite, meanwhile, an operator can strengthen risk early warning of some satellites, systems or single machines according to health degree assessment results, and serious accidents are avoided.
Drawings
Fig. 1 is a first flowchart of a task and risk oriented satellite typical functional structure level health assessment method according to an embodiment of the present invention;
Fig. 2 is a second flow chart of a task and risk oriented satellite typical function structure level health assessment method according to an embodiment of the present invention;
FIG. 3 is a diagram of a parallel structure of a single machine according to an embodiment of the present invention;
FIG. 4 is a diagram of a single-unit serial architecture according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating a parallel configuration of subsystems according to an embodiment of the present invention;
FIG. 6 is a diagram of a series configuration of subsystems according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a hierarchy structure of a satellite for completing task 1 according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, and it should be understood that the embodiments described below are only for illustrating and explaining the present invention and are not intended to limit the present invention.
Fig. 1 is a first flowchart of a task and risk oriented satellite typical function structure level health assessment method according to an embodiment of the present invention, as shown in fig. 1, the method includes the steps of:
step S101: the various tasks that the satellite needs to perform are determined.
Step S102: and determining a functional structure block diagram of a satellite hierarchy when the satellite performs each task, wherein the functional structure block diagram of the satellite hierarchy comprises a plurality of subsystems.
Step S103: and evaluating the task health degree and the risk health degree of the satellite level of each task by using the functional structure diagram of the satellite level when the satellite executes each task, wherein the task health degree of the satellite level of each task is a capacity measure value of the satellite for completing each task, and the risk health degree of the satellite level of each task is a capacity measure value of the satellite for bearing risks in the process of executing each task.
The step S103 may include: for any task which needs to be executed by the satellite, determining the task health degree and the risk health degree of each subsystem in a functional structure diagram of a satellite level, and determining the task health degree and the risk health degree of the satellite level of each task according to a serial-parallel connection structure among a plurality of subsystems and the task health degree and the risk health degree of each subsystem in the functional structure diagram of the satellite level.
Each subsystem comprises one or more singletons.
The method for determining the task health degree and the risk health degree of each subsystem included in the functional structure diagram of the satellite hierarchy comprises the following steps: for any subsystem in the functional structure block diagram of the satellite hierarchy, acquiring the task health degree and the risk health degree of each single machine in the subsystem, wherein the task health degree of each single machine is a capacity measurement value for each single machine to complete each task, and the risk health degree of each single machine is a capacity measurement value for each single machine to bear the risk in the process of executing each task, and the task health degree and the risk health degree of each single machine are equal to the basic health degree of each single machine; if the subsystem comprises a single machine, taking the task health degree of the single machine as the task health degree of the subsystem, and taking the risk health degree of the single machine as the risk health degree of the subsystem; and if the subsystem comprises a plurality of single machines, determining the task health degree and the risk health degree of the subsystem according to a series-parallel connection structure among the plurality of single machines included in the subsystem and the task health degree and the risk health degree of each single machine.
For the situation that the subsystem comprises a plurality of single machines, the task health degree and the risk health degree of the subsystem are determined according to a serial-parallel connection structure among the plurality of single machines included in the subsystem and the task health degree and the risk health degree of each single machine, wherein the task health degree and the risk health degree of the subsystem comprise any one of the following situations:
(1) and if a plurality of single machines in the subsystem are connected in series, determining the task health degree and the risk health degree of the subsystem according to a subsystem hierarchical series structure strategy and the task health degree and the risk health degree of each single machine in the subsystem.
The strategy of the subsystem hierarchical series structure is expressed by a formula as follows:
Figure BDA0002453719040000081
Figure BDA0002453719040000082
wherein h issubsystemAnd rhsubsystemThe task health degree and the risk health degree of the subsystem are respectively; n is the number of single machines in the subsystem;
Figure BDA0002453719040000091
and
Figure BDA0002453719040000092
the task health degree and the risk health degree of the ith single machine in the subsystem are respectively.
That is, the task health of the subsystem is obtained by multiplying the task health of the n singles in the subsystem. Similarly, the risk health degrees of n individuals in the subsystem are multiplied, and the obtained result is taken as the risk health degree of the subsystem.
(2) And if the plurality of single machines in the subsystem are connected in parallel, determining the task health degree and the risk health degree of the subsystem according to a subsystem hierarchical parallel structure strategy and the task health degree and the risk health degree of each single machine in the subsystem.
The strategy of the subsystem hierarchical parallel structure is expressed by a formula as follows:
Figure BDA0002453719040000093
Figure BDA0002453719040000094
wherein h issubsystemAnd rhsubsystemThe task health degree and the risk health degree of the subsystem are respectively; n is the number of single machines in the subsystem;
Figure BDA0002453719040000095
and
Figure BDA0002453719040000096
the task health degree and the risk health degree of the ith single machine in the subsystem are respectively.
That is, the difference between 1 and the task health of each single machine in the subsystem is determined respectively; multiplying the obtained difference values to obtain a product; subtracting 1 from the product and taking the result as the task health of the subsystem. And averaging the risk health degrees of the sub-system with the risk health degrees of the n single machines in the sub-system.
(3) And if the plurality of single machines in the subsystem are connected in series and in parallel, determining the risk health degree of the subsystem according to the hierarchy series and parallel structure strategies of the subsystem and the task health degree and risk health degree of each single machine in the subsystem.
The hierarchy series and parallel structure strategies of the subsystems are as follows: determining the task health degree and the risk health degree of each parallel structure in the subsystem according to the subsystem hierarchical parallel structure strategy and the task health degree and the risk health degree of each single machine in the parallel structure; and determining the task health degree and the risk health degree of the subsystem according to the hierarchy series structure strategy of the subsystem and the task health degree and the risk health degree of each single machine and each parallel structure connected in series.
The determining of the task health degree and the risk health degree of the satellite hierarchy of each task according to the serial-parallel connection structure among the subsystems and the task health degree and the risk health degree of each subsystem included in the functional structure block diagram of the satellite hierarchy may specifically include any one of the following situations:
(1) and if the subsystems are connected in series, determining the task health degree and the risk health degree of the satellite hierarchy of each task according to the satellite hierarchy series structure strategy and the task health degree and the risk health degree of each subsystem.
The satellite hierarchy tandem structure strategy is expressed by the formula:
Figure BDA0002453719040000101
Figure BDA0002453719040000102
wherein the content of the first and second substances,
Figure BDA0002453719040000103
and
Figure BDA0002453719040000104
the task health degree and the risk health degree of the satellite level of the kth task are respectively; m is the number of subsystems in the functional structure diagram of the satellite level of the kth task;
Figure BDA0002453719040000105
and
Figure BDA0002453719040000106
the task health degree and the risk health degree of the ith subsystem are respectively.
That is, the task health degrees of m subsystems in the functional structure diagram of the satellite hierarchy are multiplied, and the obtained result is used as the task health degree of the satellite hierarchy of the task. Similarly, the risk health degrees of the m subsystems in the functional structure diagram of the satellite level are multiplied, and the obtained result is used as the risk health degree of the satellite level of the task.
(2) And if the subsystems are connected in parallel, determining the task health degree and the risk health degree of the satellite level of each task according to a satellite level parallel structure strategy and the task health degree and the risk health degree of each subsystem.
The satellite level parallel structure strategy is expressed by the formula:
Figure BDA0002453719040000107
Figure BDA0002453719040000108
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0002453719040000111
and
Figure BDA0002453719040000112
the task health degree and the risk health degree of the satellite level of the kth task are respectively; m is the number of subsystems in the functional structure diagram of the satellite level of the kth task;
Figure BDA0002453719040000113
and
Figure BDA0002453719040000114
the task health degree and the risk health degree of the ith subsystem are respectively.
That is, the difference between 1 and the task health degree of each subsystem in the functional structure diagram of the satellite hierarchy is respectively determined; multiplying the difference values to obtain a product; the product is subtracted from 1 and the result is taken as the task health for the satellite level of the task. And taking the average value of the risk health degrees of the m subsystems in the functional structure block diagram of the satellite hierarchy as the risk health degree of the satellite hierarchy of the task.
(3) And if the subsystems are connected in series and in parallel, determining the task health degree and the risk health degree of the satellite hierarchy of each task according to the satellite hierarchy series and parallel structure strategies and the task health degree and the risk health degree of each subsystem.
The satellite hierarchical series and parallel structure strategy specifically comprises the following steps: determining the task health degree and the risk health degree of each parallel structure in a satellite hierarchy according to a satellite hierarchy parallel structure strategy and the task health degree and the risk health degree of each subsystem in the parallel structure; and determining the task health degree and the risk health degree of the satellite level of the task according to the strategy of the satellite level serial structure and the task health degree and the risk health degree of each subsystem and each parallel structure which are connected in series.
Step S104: weighting and accumulating the satellite level task health degree of each task to obtain a satellite task health degree, and weighting and accumulating the satellite level risk health degree of each task to obtain a satellite risk health degree, wherein the satellite task health degree is a comprehensive capability measurement value of the satellite for completing each task, and the satellite risk health degree is a comprehensive capability measurement value of the satellite for bearing risks in the execution process of each task.
The satellite mission health degree h and the satellite risk health degree rh are realized by the following formulas:
Figure BDA0002453719040000115
Figure BDA0002453719040000121
Figure BDA0002453719040000122
wherein p is the number of tasks required to be executed by the satellite; a is akThe weight of the kth task in all tasks;
Figure BDA0002453719040000123
And
Figure BDA0002453719040000124
task health and risk health at the satellite level for the kth task, respectively.
Step S105: and comprehensively evaluating the health state of the satellite according to the satellite task health degree and the satellite risk health degree.
The step S105 may include: according to the satellite task health degree, evaluating the comprehensive capability of the satellite to complete each task; and evaluating the comprehensive capacity of the satellite for bearing the risks in the execution process of each task according to the risk health degree of the satellite, so that the overall health state of the satellite is determined through the comprehensive capacity of the satellite for completing each task and the comprehensive capacity of the satellite for bearing the risks in the execution process of each task.
The method provided by the invention comprehensively considers the functional structure of the system, the health degree of the subsystems, the capability of the subsystems for completing the specified tasks and the bearing capacity of the subsystem for failing to complete the specified tasks, provides the concepts of the health degree of the tasks and the health degree of the risks, solves the problem of the evaluation of the health degree of the multilevel system based on various functional structures, realizes the evaluation calculation of the typical structure of the satellite facing the tasks and the risks, fully considers the physical meanings of different functional structures, reduces the interference degree of the evaluation result set by people, and improves the accuracy of the evaluation result. In addition, from the operation parameters of the satellite single machine and expert experience, reliable basis is provided for decisions such as task allocation, maintenance and replacement of the satellite.
The satellite system is divided into three levels of a single machine, a sub-system and a whole satellite, and the method is suitable for evaluating the task health degree of the satellite in the in-orbit operation before the satellite is transmitted. The single machine is a minimum functional module with monitoring capability, and the telemetering parameters do not have a component of a next level, such as a flywheel single machine; the subsystem is a unit which is composed of a plurality of single machines and completes one or more functions, such as an attitude control system of a satellite; the whole satellite system is a system which is composed of a plurality of subsystems and is used for completing specified tasks.
The task health degree is defined as the comprehensive ability of an evaluation object to complete each set task, and is represented by h, the value range is [0,1], h is 0 to represent that the set task cannot be completed, and h is 1 to represent that the set task can be completed well; the risk health degree defines the comprehensive ability of the evaluation object to bear the risks in the execution process of each task, and is represented by rh, and the value range [0,1] represents that the object has no risk in the execution process of the function when rh is 1, and represents that the object has the maximum risk in the execution process of the function when rh is 0.
Fig. 2 is a second flow chart of a task and risk oriented satellite typical function structure level health assessment method according to an embodiment of the present invention, as shown in fig. 2, the method includes the steps of:
The method comprises the following steps: and establishing a functional structure diagram of each layer of the satellite based on the tasks, namely constructing a typical functional structure of each layer facing each task of the satellite.
The method comprises the steps that a plurality of tasks need to be executed according to a preset plan during the in-orbit operation of the satellite, and the satellite is subjected to hierarchical division and functional logic relationship construction based on the difference of the requirements of the tasks. In order to visually and quantitatively analyze the task health degree and the risk health degree of a satellite when each task is executed, a satellite layer is specified to be mainly composed of subsystems participating in the task, the subsystem layer is composed of single machines mainly participating in the task, and a function structure diagram of two levels of the satellite and the subsystem is constructed according to requirements. The functional structure diagram is composed of blocks, lines and nodes representing products or functions, and is used for describing functional logic relations among all hierarchy constituent units.
By analyzing common task types of satellites, the functional structure of a satellite layer is divided into the following three basic structure types:
(1) series connection structure
If the satellite subsystems in a task are in a serial structure, as shown in fig. 6, all the subsystems mainly participating in the task must normally operate, and the satellite can complete the task, otherwise, if any subsystem fails, the satellite will fail, and the task cannot be normally completed.
(2) Parallel model
If the satellite subsystems in a certain task are in a parallel connection structure, as shown in fig. 5, the whole satellite can complete the task as long as one subsystem operates normally. Otherwise, only if all the subsystems have faults, the satellite has faults and cannot normally complete the task.
(3) Complex form structure
For some tasks, the subsystems forming the whole satellite structure are not in a serial or parallel connection relationship, and are decomposed into a complex form formed by a plurality of basic structures such as serial structures and parallel structures.
Similarly, by analyzing the functional logic relationship between each subsystem and a single machine in the common task types of the satellite, the functional structure of the subsystem layer is divided into three basic types, namely a series structure, a parallel structure and a complex form structure, wherein the series structure and the parallel structure are respectively shown in fig. 4 and fig. 3.
Step two: and acquiring the task health degree of the single machine, and calculating the task health degree of the single machine based on the telemetering parameters.
For a single machine level, the task health degree of the single machine level can evaluate the capability of the single machine level in completing various tasks through methods such as data driving, physical model construction and the like on the basis of acquiring remote measurement parameters. For example, a satellite power supply health degree calculation method based on multi-attribute evaluation, a device fault prediction and health evaluation method based on a fuzzy Bayesian network and other methods calculate the health state of a satellite single machine, and can express the task health degree of the satellite single machine under a certain task, and the risk that the task cannot be completed due to the irreproducible single machine level is the self health degree, so that the task health degree and the risk health degree of the single machine are considered to be equal by the application.
Step three: and calculating the task health degree and the risk health degree of the branch system in each task.
And performing task health degree and risk health degree algorithm configuration based on the established physical meaning of the functional structure, and realizing the calculation of the health degree of the subsystem.
(1) As shown in fig. 3, in the parallel structure subsystem, when a satellite executes a certain task, the single machines forming the subsystem are in a parallel structure, and then an algorithm (1) is adopted to calculate the health degree of the task of the subsystem:
Figure BDA0002453719040000141
wherein h issubsystemThe task health degree of the subsystem; n is the number of the single machines connected in parallel in the subsystem;
Figure BDA0002453719040000151
the health degree of the ith stand-alone.
And (3) calculating the risk health degree of the subsystem by adopting an algorithm (2):
Figure BDA0002453719040000152
wherein rh issubsystemThe risk health degree of the subsystem is shown, and n is the number of the single machines connected in parallel in the subsystem;
Figure BDA0002453719040000153
the health degree of the ith stand-alone.
(2) In the serial structure subsystem, as shown in fig. 4, when a satellite executes a certain task, the single machines forming the subsystem are in a serial structure, and then an algorithm (3) is adopted to calculate the health degree of the task of the subsystem:
Figure BDA0002453719040000154
wherein h issubsystemIs the task health of the unit; n is the number of the sub-units connected in series in the subsystem;
Figure BDA0002453719040000155
is the health of the ith sub-unit.
And (3) calculating the risk health degree of the subsystem by adopting an algorithm (4):
Figure BDA0002453719040000156
Wherein rh issubsystemThe risk health degree of the subsystem is represented, and n is the number of the single machines connected in series in the subsystem;
Figure BDA0002453719040000157
the health degree of the ith single machine.
(3) A complex form structural subsystem: in a certain task, each single machine forming the subsystem is in a complex structure, and is simplified based on a model, divided into a plurality of basic structures connected in series or in parallel, the task health degree and the risk health degree of the parts connected in series or in parallel are calculated, and then the task health degree and the risk health degree of the satellite subsystem are calculated through gradual progression until the task health degree and the risk health degree of the satellite subsystem are calculated.
Step four: and calculating the task health degree and the risk health degree of the satellite in each task.
And performing task health degree and risk health degree algorithm configuration based on the established physical meaning of the functional structure to realize the calculation of the satellite health degree.
(1) In a certain task, each subsystem constituting the satellite is in a parallel structure, and as shown in fig. 5, an algorithm (5) is adopted to calculate the task health degree of the whole satellite system:
Figure BDA0002453719040000161
wherein h issatelliteThe task health degree of the whole satellite system; m is the number of the subsystems in parallel connection in the whole satellite system; h issiubsystemThe task health of the ith subsystem.
And (3) calculating the risk health degree of the whole satellite system by adopting an algorithm (6):
Figure BDA0002453719040000162
Wherein rh issatelliteM is the risk health degree of the whole satellite system, and the number of subsystems in parallel connection in the whole satellite system;
Figure BDA0002453719040000163
is the health of the ith subsystem.
(2) In a certain task, each subsystem forming the satellite is in a series structure, and an algorithm (7) is adopted to calculate the risk health degree of the whole satellite system:
Figure BDA0002453719040000164
wherein h issatelliteThe task health degree of the whole satellite system; m is the number of the subsystems connected in series in the whole satellite system;
Figure BDA0002453719040000165
the task health of the ith subsystem.
And (3) calculating the risk health degree of the whole satellite system by adopting an algorithm (8):
Figure BDA0002453719040000166
wherein rh issatelliteM is the risk health degree of the whole satellite system, and m is the number of subsystems connected in series in the whole satellite system;
Figure BDA0002453719040000167
is the health of the ith subsystem.
(3) Complex form structure: in a certain task, all subsystems forming the satellite are in complex structures, the structure is simplified based on a model, the structure is divided into a plurality of basic structures connected in series or in parallel, the task health degree and the risk health degree of the parts connected in series or in parallel are calculated, and then the task health degree and the risk health degree of the satellite are calculated step by step until the task health degree and the risk health degree of the satellite are calculated.
Step five: and calculating the overall task health degree and risk health degree of the satellite.
According to the calculation results of the task health degree and the risk health degree of the satellite in the process of executing various tasks, calculating the task health degree of the whole satellite by using an algorithm (9):
Figure BDA0002453719040000171
Wherein, akThe weight of the kth task for the satellite, among all tasks, is given by expert experience,
Figure BDA0002453719040000172
the task health for the satellite when performing the kth task.
Calculating the overall risk health of the satellite by using an algorithm (10):
Figure BDA0002453719040000173
wherein, akThe weight of the kth task for the satellite, in all tasks, is given by expert experience,
Figure BDA0002453719040000174
is the task health of the satellite at the time of the kth task.
The task health degree h is the comprehensive capability measurement of the system for completing different established tasks; the risk health rh is the ability of the system to withstand the effects of the components failing to complete the prescribed task.
The invention carries out task health degree evaluation of the subsystems according to the serial-parallel connection structures among the single machines in the subsystems and the respective health degrees, and carries out task health degree and risk health degree evaluation of the whole satellite according to the serial-parallel connection structures among the subsystems in the whole satellite and the respective health degrees, thereby realizing multi-level task health evaluation and risk health evaluation.
Application case
The invention uses the health degree and the functional structure of the typical components of the satellite as examples to explain the implementation process of the method.
The method comprises the following steps: and establishing a functional structure diagram of each layer of the satellite based on the task.
The satellite tasks include task 1, task 2, and task 3.
In this case, taking task 1 as an example, task 1 based on the satellite divides the structural hierarchy of the satellite, and the functional structure diagram of the satellite mainly includes the power system, the signal system, the measurement system, the attitude control system, the propulsion system and other subsystems participating in task 1, and each subsystem is in a series structure. The single machine of the signal system is in a series structure, and the single machines of the measuring system and the attitude control system are in a parallel structure. The functional structure of the satellite and the various subsystems is shown in fig. 7.
Similarly, according to the subsystems, the single machine types and the functional logic relationship thereof mainly involved in the satellite task execution process, a satellite multi-level functional structure diagram from task 2, task 3 to task n is constructed.
Step two: and acquiring the task health degree of the single machine.
For a single-machine level, the task health degree can be calculated by methods such as data driving, physical model construction and the like on the basis of obtaining remote measurement parameters, such as a satellite power health degree calculation method based on multi-attribute evaluation, an equipment fault prediction and health evaluation method based on a fuzzy Bayesian network and the like. The calculated task health degree values of the single machines are shown in the following table:
Name of single machine Degree of health of task
Antenna with a shield 0.94
Receiver with a plurality of receivers 0.95
Transmitter and receiver 0.97
Gyro assembly A 0.90
Gyroscope assembly B 0.86
Rolling horizon sensor 0.83
Pitching horizon sensor 0.95
Momentum wheel A 0.86
Momentum wheel B 0.88
Reaction flywheel A 0.94
Reaction flywheel B 0.92
Step three: calculating task health degree and risk health degree of branch system in each task
According to the functional structure diagram constructed in the step one, when the satellite executes the task 1, the single machines in the measurement subsystem are in a parallel structure, so that the task health degree and the risk health degree of the measurement subsystem are respectively calculated according to the formulas (1) and (2):
Figure BDA0002453719040000191
Figure BDA0002453719040000192
namely, the task health degree of the measurement subsystem is 0.999881, and the risk health degree is 0.885000
Similarly, according to the functional structure diagram of the satellite when executing the task 1, it can be known that the single machines in the attitude control subsystem are also in a parallel structure, so the task health degree and the risk health degree of the attitude control subsystem are calculated according to the formulas (1) and (2):
Figure BDA0002453719040000193
Figure BDA0002453719040000194
namely, the task health degree of the posture control subsystem is 0.999919, and the risk health degree is 0.900000.
In the satellite functional structure diagram constructed aiming at the task 1, the single machines in the signal subsystem are connected in series, so the task health degree and the risk health degree of the signal subsystem are respectively calculated according to formulas (3) and (4):
Figure BDA0002453719040000195
Figure BDA0002453719040000196
Namely, the task health degree of the signal subsystem is 0.866210, and the risk health degree is 0.866210.
Similarly, according to different task requirements from task 2, task 3 to task n, determining the functional logic relationship of each single machine in each subsystem, constructing the functional structure diagram of each subsystem, and calculating the health degree of the task and the health degree of the risk of each subsystem in each task according to the task health degree and the risk health degree formula of various structure types in the step three.
Step four: calculating task health degree and risk health degree of satellites in various tasks
And C, calculating the task health degree and the risk health degree of each subsystem according to the third step, wherein the task health degree and the risk health degree are shown in the following table:
subsystem name Degree of health of task Degree of risk and health
Power supply subsystem 0.921000 0.863000
Signal subsystem 0.866210 0.866210
Measurement subsystem 0.999881 0.885000
Attitude control subsystem 0.999919 0.900000
Propulsion subsystem 0.923000 0.875000
The task health and risk health of the satellites in each task are calculated according to the method above:
in task 1, the power subsystem, the signal subsystem, the propulsion subsystem, the measurement subsystem and the attitude control subsystem of the satellite are all connected in series, so the task health degree and the risk health degree of the satellite are calculated by adopting a formula (7) and a formula (8) respectively:
Figure BDA0002453719040000201
Figure BDA0002453719040000202
Similarly, according to different task requirements from task 2, task 3 to task n, determining the functional logic relationship among all subsystems of the satellite, constructing a functional structure diagram of a satellite level, and calculating the task health degree and the risk health degree of the satellite in each task according to task health degree and risk health degree formulas of various structure types in step four.
Step five: and calculating the overall task health degree and risk health degree of the satellite.
The results of the task health and risk health calculations for the satellite during the performance of the primary tasks (task 1, task 2, task 3, task 4, task 5) are shown in the following table:
task numbering Degree of health of task Degree of risk and health
Task 1 0.736203 0.520988
Task 2 0.906287 0.845420
Task 3 0.912853 0.912853
Task 4 0.799764 0.740056
Task 5 0.903865 0.855032
Calculating the task health of the satellite by using the formula (9):
Figure BDA0002453719040000211
calculating the risk health degree of the satellite by using the formula (10):
Figure BDA0002453719040000212
the task health degree of the invention can be used for evaluating the health state of the satellite executing the task in real time, thereby implementing monitoring of different levels; the risk health degree of the invention can be used for early warning the potential risk of the satellite, thereby supporting the decisions of task formulation, maintenance and the like.
Although the present invention has been described in detail hereinabove, the present invention is not limited thereto, and various modifications can be made by those skilled in the art in light of the principle of the present invention. Thus, modifications made in accordance with the principles of the present invention should be understood to fall within the scope of the present invention.

Claims (9)

1. A task and risk oriented satellite typical functional structure hierarchy health assessment method is characterized by comprising the following steps:
determining subsystems required by the satellite to execute each task according to each task required to be executed by the satellite during the in-orbit operation;
according to different requirements of each determined task, the satellite is respectively subjected to hierarchical division to obtain a plurality of satellite hierarchies for the satellite to execute the tasks, and the satellite hierarchy for the satellite to execute each task is composed of a plurality of subsystems participating in the corresponding task;
respectively constructing a functional structure diagram of a satellite level for executing each task by a satellite, wherein the functional structure diagram of the satellite level for executing each task by the satellite comprises a plurality of subsystems participating in corresponding tasks and a series connection structure or a parallel connection structure or a series and parallel connection structure of the subsystems;
evaluating the task health degree and the risk health degree of the satellite hierarchy of each task executed by the satellite respectively by utilizing a functional structure block diagram of the satellite hierarchy of each task executed by the satellite to obtain the task health degree and the risk health degree of the satellite hierarchy of each task executed by the satellite;
weighting and accumulating the task health degree of the satellite level of each task executed by the satellite to obtain the satellite task health degree h, and weighting and accumulating the risk health degree of the satellite level of each task executed by the satellite to obtain the satellite risk health degree rh, wherein:
Figure FDF0000016700360000011
Figure FDF0000016700360000012
Figure FDF0000016700360000013
p is the number of tasks to be executed by the satellite; a iskThe weight of the kth task in all tasks;
Figure FDF0000016700360000014
and
Figure FDF0000016700360000015
the task health degree and the risk health degree of the satellite level of the kth task are respectively;
and comprehensively evaluating the health state of the satellite according to the satellite task health degree h and the satellite risk health degree rh.
2. The method of claim 1, wherein the functional structure diagram of the satellite layer when performing each task by using the satellite comprises the following steps of:
for any task which needs to be executed by the satellite, determining the task health degree and the risk health degree of each subsystem included in the functional structure diagram of the satellite level;
and determining the task health degree and the risk health degree of the satellite hierarchy of each task according to a series-parallel connection structure among the subsystems and the task health degree and the risk health degree of each subsystem, which are included in the functional structure block diagram of the satellite hierarchy.
3. The method of claim 2, wherein each subsystem comprises one or more standalone units, and wherein determining the task health and risk health of each subsystem included in the functional structural diagram of the satellite hierarchy comprises:
For any subsystem in the functional structure diagram of the satellite hierarchy, acquiring the task health degree and the risk health degree of each single machine in the subsystem;
if the subsystem comprises a single machine, taking the task health degree of the single machine as the task health degree of the subsystem, and taking the risk health degree of the single machine as the risk health degree of the subsystem;
and if the subsystem comprises a plurality of single machines, determining the task health degree and the risk health degree of the subsystem according to a series-parallel connection structure among the plurality of single machines included in the subsystem and the task health degree and the risk health degree of each single machine.
4. The method of claim 3,
the task health degree of each single machine is a capability measurement value for each single machine to complete each task;
the risk health degree of each single machine is a capacity measurement value of each single machine capable of bearing the risk in the execution process of each task;
wherein the task health degree and the risk health degree of the single machine are equal to the basic health degree of the single machine.
5. The method of claim 3, wherein determining the mission health and risk health of the subsystem based on a series-parallel configuration between the plurality of units comprised in the subsystem and the mission health and risk health of each unit comprises:
If a plurality of single machines in the subsystem are connected in series, determining the task health degree and the risk health degree of the subsystem according to a subsystem hierarchical series structure strategy and the task health degree and the risk health degree of each single machine in the subsystem;
if a plurality of single machines in the subsystem are connected in parallel, determining the task health degree and the risk health degree of the subsystem according to a subsystem hierarchical parallel structure strategy and the task health degree and the risk health degree of each single machine in the subsystem;
and if a plurality of single machines included in the subsystem are connected in series and in parallel, determining the risk health degree of the subsystem according to a hierarchy series and parallel structure strategy of the subsystem and the task health degree and risk health degree of each single machine in the subsystem.
6. The method of claim 5,
the strategy of the subsystem hierarchical series structure is expressed by a formula as follows:
Figure FDF0000016700360000031
Figure FDF0000016700360000032
wherein h issubsystemAnd rhsubsystemThe task health degree and the risk health degree of the subsystem are respectively; n is the number of single machines in the subsystem;
Figure FDF0000016700360000033
and
Figure FDF0000016700360000034
the task health degree and the risk health degree of the ith single machine in the subsystem are respectively;
the strategy of the subsystem hierarchical parallel structure is expressed as
Figure FDF0000016700360000035
Figure FDF0000016700360000036
Wherein h issubsystemAnd rhsubsystemRespectively the task health degree and the risk health degree of the subsystem; n is the number of single machines in the subsystem;
Figure FDF0000016700360000037
and
Figure FDF0000016700360000038
the task health degree and the risk health degree of the ith single machine in the subsystem are respectively;
the hierarchy series and parallel structure strategies of the subsystems are as follows: determining the task health degree and the risk health degree of each parallel structure in the subsystem according to the subsystem hierarchical parallel structure strategy and the task health degree and the risk health degree of each single machine in the parallel structure; and determining the task health degree and the risk health degree of the subsystem according to the hierarchy series structure strategy of the subsystem and the task health degree and the risk health degree of each single machine and each parallel structure connected in series.
7. The method of claim 2, wherein the determining the task health degree and the risk health degree of the satellite hierarchy of each task according to the serial-parallel connection structure among the subsystems and the task health degree and the risk health degree of each subsystem included in the functional structure diagram of the satellite hierarchy comprises:
if the subsystems are connected in series, determining the task health degree and the risk health degree of the satellite hierarchy of each task according to a satellite hierarchy series structure strategy and the task health degree and the risk health degree of each subsystem;
If the subsystems are connected in parallel, determining the task health degree and the risk health degree of the satellite level of each task according to a satellite level parallel structure strategy and the task health degree and the risk health degree of each subsystem;
and if the subsystems are connected in series and in parallel, determining the task health degree and the risk health degree of the satellite level of each task according to the satellite level series and parallel structure strategy and the task health degree and the risk health degree of each subsystem.
8. The method of claim 7,
the satellite hierarchy tandem structure strategy is expressed by the formula:
Figure FDF0000016700360000041
Figure FDF0000016700360000042
wherein, the first and the second end of the pipe are connected with each other,
Figure FDF0000016700360000043
and
Figure FDF0000016700360000044
the task health degree and the risk health degree of the satellite level of the kth task are respectively; m is the number of subsystems in the functional structure diagram of the satellite level of the kth task;
Figure FDF0000016700360000045
and
Figure FDF0000016700360000046
the task health degree and the risk health degree of the ith subsystem are respectively;
the satellite level parallel structure strategy is expressed by a formula as follows:
Figure FDF0000016700360000047
Figure FDF0000016700360000048
wherein, the first and the second end of the pipe are connected with each other,
Figure FDF0000016700360000049
and
Figure FDF00000167003600000410
the task health degree and the risk health degree of the satellite level of the kth task are respectively; m is the number of subsystems in the functional structure diagram of the satellite level of the kth task;
Figure FDF00000167003600000411
And
Figure FDF0000016700360000051
the task health degree and the risk health degree of the ith subsystem are respectively;
the satellite hierarchy series and parallel structure strategy specifically comprises the following steps: determining the task health degree and the risk health degree of each parallel structure in the satellite hierarchy according to a satellite hierarchy parallel structure strategy and the task health degree and the risk health degree of each subsystem in the parallel structure; and determining the task health degree and the risk health degree of the satellite hierarchy of the task according to the strategy of the satellite hierarchy series structure and the task health degree and the risk health degree of each subsystem and each parallel structure which are connected in series.
9. The method of claim 1, wherein the integrated assessment of the health status of the satellite based on the satellite mission health and the satellite risk health comprises:
according to the satellite task health degree, evaluating the comprehensive capability of the satellite to complete each task;
and evaluating the comprehensive capability of the satellite for bearing the risks in the execution process of each task according to the risk health degree of the satellite.
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