CN111797517B - Magnetic torquer on-orbit fault autonomous diagnosis method based on linear regression - Google Patents
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Abstract
An on-orbit fault autonomous diagnosis method for a magnetic torquer based on linear regression is provided, by establishing an on-orbit fault autonomous diagnosis method for the magnetic torquer, solving configuration parameters of the on-orbit fault autonomous diagnosis method by using a least square method, integrating output of the magnetic torquer in a time domain by adopting an integral smoothing processing mode according to on-orbit output characteristics of the magnetic torquer, and solving an output change threshold value of the magnetic torquer output in a given period by integrating operation of the magnetic torquer output in the given period, thereby obtaining effective criteria of on-orbit data of the magnetic torquer, improving the effectiveness of on-orbit output of an important actuating mechanism of the magnetic torquer, and realizing effective judgment of on-orbit output of the magnetic torquer.
Description
Technical Field
The invention relates to an on-orbit fault autonomous diagnosis method for a magnetic torquer based on linear regression, and belongs to the field of spacecraft attitude control.
Background
The magnetic torquer is used as an important executing mechanism in a spacecraft control subsystem and is responsible for tasks such as spacecraft attitude control and spacecraft whole star angular momentum unloading, the precision of the spacecraft attitude control is directly concerned, the output effectiveness of the magnetic torquer determines the effect of the spacecraft attitude control to a great extent, and the task income of the spacecraft is remarkably improved.
The pulse width control quantity of the magnetic torquer is changed in real time along with the real-time gesture and orbit change of the spacecraft, and the change is nonlinear and cannot be estimated absolutely. And along with the change of the track, when the cosine value of the included angle between the magnetic torquer and the geomagnetic field is larger than a certain value, the magnetic torquer cannot cut the geomagnetic field induction line, so that the pulse width control quantity can jump to zero instantly. These changes, even the jump from the larger pulse width control amount effective output value to zero, are the real working characteristics of the magnetic torquer, and the nonlinear changes bring great difficulty to the implementation of the on-orbit fault autonomous diagnosis of the magnetic torquer.
Disclosure of Invention
The invention solves the technical problems that: aiming at the problem that the traditional magnetic torquer output judging method is difficult to cope with the jump condition of the pulse width control quantity in the prior art, the on-orbit fault autonomous diagnosis method of the magnetic torquer based on linear regression is provided.
The invention solves the technical problems by the following technical proposal:
an on-orbit fault autonomous diagnosis method for a magnetic torquer based on linear regression comprises the following steps:
(1) Establishing a magnetic torquer input/output model according to the input/output of the magnetic torquer, and defining configuration parameters of the magnetic torquer input/output model;
(2) Performing linear fitting on the magnetic torquer input/output model obtained in the step (1), and calculating configuration parameters of the magnetic torquer input/output model according to a least square method;
(3) Integrating the output of the magnetic torquer in a given period by an integral smoothing processing mode, and determining an output change threshold of the magnetic torquer according to an integral operation result;
(4) And (3) taking the output change threshold value of the magnetic torquer obtained in the step (3) as the output effectiveness judgment basis of the magnetic torquer in a given period, establishing an on-orbit fault autonomous diagnosis model of the magnetic torquer, and realizing the on-orbit fault autonomous diagnosis of the magnetic torquer.
In the step (1), the magnetic torquer input/output model specifically includes:
y＝f(x,a)+b
wherein x is exciting current of the magnetic torquer, y is pulse width control quantity received by the magnetic torquer and calculated and output by a satellite-borne computer, f (x, a) is a nonlinear continuous function related to the exciting current of the magnetic torquer, and a and b are configuration parameters for describing the relation between the exciting current of the magnetic torquer and the pulse width control quantity.
In the step (2), the specific method for calculating the configuration parameters of the magnetic torquer input/output model is as follows:
(2-1) obtaining n groups of excitation current and pulse width control quantity sample data, wherein the sample data specifically comprises:
[(x 1 ,y 1 ),(x 2 ,y 2 ),(x 3 ,y 3 ),...,(x n ,y n )],(n∈Z+)；
wherein x is 1 ～x n For n groups of exciting current specific values, y 1 ～y n N groups of pulse width control quantity concrete values;
(2-2) performing linear fitting on the input and the output of the magnetic torquer, and calculating sample data dispersion Q by using a least square method, wherein the method specifically comprises the following steps:
y＝ax+b
wherein y is i Is y 1 ～y n Any one of the samples, x i Is x 1 ～x n Any one of the samples;
(2-3) calculating configuration parameters a, b specifically when the dispersion Q is the minimum value:
in the method, in the process of the invention,
the average of the x, y sample sets, respectively.
In the step (3), the specific step of determining the output change threshold value of the magnetic torquer is as follows:
(3-1) fitting pulse width control quantity and exciting current curves which do not meet the linear relation, and integrating n groups of exciting currents and pulse width control quantity sample data in the time domain of S control periods to obtain a pulse width control quantity linear fitting theoretical value Y i True value y of telemetry sampling i The method specifically comprises the following steps:
in the method, in the process of the invention,
the pulse width control quantity and the excitation current fitting curve are configuration parameters which do not meet the linear relation;
(3-2) Linear fitting of the theoretical value Y to the pulse Width control quantity i True value y of telemetry sampling i Difference after integration, wherein:
wherein E is S Is the integral difference;
(3-3) Linear fitting of the pulse width control amount in each control period to the theoretical value Y i True value y of telemetry sampling i Respectively taking the maximum value E nSmax Minimum value E nSmin Performing
Determining telemetry sampling threshold b after secondary integration Smin 、b Smax The method specifically comprises the following steps:
E nSmin ＝min(E S ),E nSmax ＝max(E S ),
b Smin ＝min(E nSmin ),b Smax ＝max(E nSmax )；
(3-4) determining a magnetic torquer output change threshold value which needs to be met by a pulse width control quantity telemetering sampling true value according to the telemetering sampling threshold value obtained in the step (3-3), wherein the magnetic torquer output change threshold value specifically comprises the following steps:
in the step (4), if the output of the magnetic torquer in the selected S control periods meets the judgment of the output change threshold value of the magnetic torquer, the output data is valid, otherwise, the output data is invalid.
Compared with the prior art, the invention has the advantages that:
according to the on-orbit fault autonomous diagnosis method of the magnetic torquer based on linear regression, provided by the invention, aiming at the nonlinear output characteristic of the magnetic torquer, a linear data model of exciting current of the magnetic torquer and pulse width control quantity output by a satellite-borne computer is established, the on-orbit fault autonomous diagnosis model of the magnetic torquer is established in a linear fitting mode, the effectiveness of on-orbit output of an important actuating mechanism of the magnetic torquer is improved, the effective judgment of the on-orbit output of the magnetic torquer can be realized, and the effectiveness of attitude control of a spacecraft is improved. And under the condition of adding a small amount of calculation, obtaining the validity interpretation of the output information of the magnetic torquer according to the curve parameters of the linear regression fitting.
Drawings
FIG. 1 is a schematic flow chart of an autonomous diagnosis method for on-orbit faults of a magnetic torquer;
FIG. 2 is a schematic diagram of the distribution of the linear fitting curve and the actual telemetry value provided by the invention;
FIG. 3 is a schematic diagram of the distribution of the validity interpretation threshold after the integral smoothing process provided by the invention;
Detailed Description
An on-orbit fault autonomous diagnosis method for a magnetic torquer based on linear regression is provided, which comprises the steps of establishing an input and output model of the magnetic torquer, defining parameter configuration of the input and output model of the magnetic torquer, solving configuration data of the input and output model of the magnetic torquer after linear fitting by using a least square method, integrating output of the magnetic torquer on a time domain by adopting an integral smoothing processing mode aiming at output characteristics of the magnetic torquer on an on-orbit, and solving an output change threshold value of the output of the magnetic torquer in a given period by integrating operation of the output of the magnetic torquer in the given period, wherein the parameter configuration data is used as a basis of autonomous fault diagnosis, as shown in figure 1, and the method comprises the following specific steps:
(1) Establishing a magnetic torquer input/output model according to the input/output of the magnetic torquer, defining configuration parameters of the magnetic torquer input/output model, and determining the output characteristics of the magnetic torquer, wherein the method specifically comprises the following steps:
because the output of the magnetic torquer is related to the characteristics of the physical device, and the inductance exists in the magnetic torquer driving circuit, the pulse width control quantity of the magnetic torquer and the telemetering quantity sampling period of the exciting current of the magnetic torquer are different. Therefore, the exciting current generated by the magnetic torquer has a relative hysteresis relation with the received pulse width control quantity. Aiming at exciting current and pulse width output of the magnetic torquer, an input and output model of the magnetic torquer is established as follows:
y＝f(x,a)+b
wherein x is exciting current of the magnetic torquer, y is pulse width control quantity received by the magnetic torquer and calculated and output by a satellite-borne computer, f (x, a) is a nonlinear continuous function related to the exciting current of the magnetic torquer, and a and b are configuration parameters for describing the relation between the exciting current of the magnetic torquer and the pulse width control quantity;
(2) Performing linear fitting on the magnetic torquer input/output model obtained in the step (1), and calculating configuration parameters of the magnetic torquer input/output model according to a least square method, wherein:
the values of a and b are related to the physical characteristics of the magnetic torquer itself. Firstly, acquiring enough sample data through a ground experiment, and calculating configuration parameters of an input and output model of a magnetic torquer, wherein the specific method comprises the following steps:
(2-1) obtaining n groups of excitation current and pulse width control quantity sample data, wherein the sample data specifically comprises:
[(x 1 ,y 1 ),(x 2 ,y 2 ),(x 3 ,y 3 ),...,(x n ,y n )],(n∈Z+)；
wherein x is 1 ～x n For n groups of exciting current specific values, y 1 ～y n N groups of pulse width control quantity concrete values;
(2-2) performing linear fitting on the input and the output of the magnetic torquer, and calculating sample data dispersion Q by using a least square method, wherein the method specifically comprises the following steps:
y＝ax+b
wherein y is i Is y 1 ～y n Any one of the samples, x i Is x 1 ～x n Any one of the samples;
(2-3) calculating the solution Q to obtain:
the right side of the equation for solving the Q value is available, and when the dispersion Q is the minimum value, the configuration parameters a, b are specifically:
in the method, in the process of the invention,
respectively the average value of x and y sample sets;
(3) Integrating the output of the magnetic torquer in a given period by an integral smoothing processing mode, and determining an output change threshold of the magnetic torquer according to an integral operation result, wherein:
the curve approximation satisfying y=ax+b characterizes the linear relation between the pulse width control quantity of the magnetic torquer and the excitation current of the magnetic torquer. However, the pulse width control quantity is calculated in real time according to the attitude control algorithm, and two adjacent pulse width control quantity wireless relations in the time domain;
(3-1) fitting pulse width control quantity and exciting current curves which do not meet the linear relation, and integrating n groups of exciting currents and pulse width control quantity sample data in the time domain of S control periods to obtain a pulse width control quantity linear fitting theoretical value Y i True value y of telemetry sampling i The method specifically comprises the following steps:
in the method, in the process of the invention,
the pulse width control quantity and the excitation current fitting curve are configuration parameters which do not meet the linear relation; s is less than or equal to n, S is E Z+;
(3-2) Linear fitting of the theoretical value Y to the pulse Width control quantity i True value y of telemetry sampling i Difference after integration, wherein:
wherein E is S Is the integral difference;
(3-3) Linear fitting of the pulse width control amount in each control period to the theoretical value Y i True value y of telemetry sampling i Respectively taking the maximum value E nSmax Minimum value E nSmin Performing
Determining telemetry sampling threshold b after secondary integration Smin 、b Smax The method specifically comprises the following steps:
E nSmin ＝min(E S ),E nSmax ＝max(E S ),
b Smin ＝min(E nSmin ),b Smax ＝max(E nSmax )；
(3-4) determining a magnetic torquer output change threshold value which needs to be met by a pulse width control quantity telemetering sampling true value according to the telemetering sampling threshold value obtained in the step (3-3), wherein the magnetic torquer output change threshold value specifically comprises the following steps:
(4) Taking the output change threshold value of the magnetic torquer obtained in the step (3) as the basis of diagnosis of the output effectiveness of the magnetic torquer in a given period, establishing an on-orbit fault autonomous diagnosis model of the magnetic torquer, and realizing the on-orbit fault autonomous diagnosis of the magnetic torquer, wherein as shown in fig. 3, exciting current x of any magnetic torquer i If the corresponding magnetic torquer pulse width control quantity y i The integral over S control periods satisfies:
the magnetic torquer output in the S control periods is valid; otherwise, it is invalid. Wherein [ b ] Smin ,b Smax ]Depending on the physical characteristics of the magnetomotive force device itself, it is also related to the value of S.
Further description of specific embodiments follows:
(1) Aiming at exciting current and pulse width output of the magnetic torquer, an input and output model of the magnetic torquer is established as follows:
y＝f(x,a)+b
wherein x is exciting current of the magnetic torquer, y is pulse width control quantity received by the magnetic torquer and calculated and output by a satellite-borne computer, and x and y are observable remote measurements respectively; f (x, a) characterizes a nonlinear continuous function related to the magnetic torquer excitation current. a and b are configuration parameters describing the relation between exciting current of the magnetic torquer and pulse width control quantity;
(2) Three million groups of sample data are obtained through a ground experiment, and the obtained input and output sample groups of the magnetic torquer are as follows:
[(x 1 ,y 1 ),(x 2 ,y 2 ),(x 3 ,y 3 ),...,(x n ,y n )],(n≤3000000,n∈Z+)
the curve fitted by the magnetic torquer input and output model is linear, and the following conditions are satisfied:
y＝ax+b
and carrying out least square method solution on the discrete point combination in the sample set. Let the dispersion Q satisfy:
when Q is minimum, obtaining coefficient values meeting a fitting curve equation, and recording average values of x and y in a sample set as
Solving for Q can result in:
as can be seen from the right of the equation above for solving the Q value, when:
the dispersion Q is at a minimum. At this time, the linear fitting model of the magnetic torquer input and output is:
y＝70.8731x-170.2057
wherein x is exciting current of the magnetic torquer, and y is pulse width control quantity received by the magnetic torquer and calculated and output by the spaceborne computer. At this time, the data distribution of the input and output model of the magnetic torquer after linear fitting is shown in fig. 2.
(3) The curve approximation satisfying y= 70.8731x-170.2057 characterizes the linear relation of the magnetic torquer pulse width control quantity and the magnetic torquer excitation current. However, the pulse width control quantity is calculated in real time according to the attitude control algorithm, and two adjacent pulse width control quantities in the time domain have a wireless relationship.
Let the fitted curve be:
y＝70.8731x-170.2057
for the whole data sample [ (x) 1 ,y 1 ),(x 2 ,y 2 ),(x 3 ,y 3 ),...,(x n ,y n )]And (n is less than or equal to 3000000, n is less than or equal to Z+), a pair of data samples corresponds to a pair of control period telemetry, and the values of 40 control periods of the data samples in the time domain are integrated, so that a pulse width control quantity linear fitting theoretical value Y generated by exciting current input in 40 control periods can be obtained i And the true value y of the telemetry sample i The method comprises the following steps of:
linear fitting of the integrated pulse width control quantity to the theoretical value and difference between the telemetry facts:
after 75000 integral operations, there are
So that the pulse width control quantity in the sample telemetering and sampling the true value y i The method meets the following conditions:
configuration parameters
Is in the range of [ -798.2160,851.4999]；
(4) Establishing an on-orbit fault autonomous diagnosis model of the magnetic torquer:
exciting current x for any magnetic torquer i Its corresponding magnetic torquer pulse width control quantity y i Integration over 40 control cycles, if:
the magnetic torquer output is valid for the 40 control periods;
if not, the output of the magnetic torquer in the 40 control periods is invalid, wherein parameters are configured
Is within the range of [ -798.2160,851.4999 [)]Depending on the physical characteristics of the magnetomotive force device itself, it is also related to the value of the integration period.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Claims (4)
1. An on-orbit fault autonomous diagnosis method for a magnetic torquer based on linear regression is characterized by comprising the following steps:
(1) Establishing a magnetic torquer input/output model according to the input/output of the magnetic torquer, and defining configuration parameters of the magnetic torquer input/output model;
(2) Performing linear fitting on the magnetic torquer input/output model obtained in the step (1), and calculating configuration parameters of the magnetic torquer input/output model according to a least square method;
in the step (2), the specific method for calculating the configuration parameters of the input and output model of the magnetic torquer is as follows:
(2-1) obtaining n groups of excitation current and pulse width control quantity sample data, wherein the sample data specifically comprises:
[(x 1 ,y 1 ),(x 2 ,y 2 ),(x 3 ,y 3 ),...,(x n ,y n )],(n∈Z+)；
wherein x is 1 ～x n For n groups of exciting current specific values, y 1 ～y n N groups of pulse width control quantity concrete values;
(2-2) performing linear fitting on the input and the output of the magnetic torquer, and calculating sample data dispersion Q by using a least square method, wherein the method specifically comprises the following steps:
y＝ax+b
wherein y is i Is y 1 ～y n Any one of the samples, x i Is x 1 ～x n Any one of the samples;
(2-3) calculating configuration parameters a, b specifically when the dispersion Q is the minimum value:
in the method, in the process of the invention,
respectively the average value of x and y sample sets;
(3) Integrating the output of the magnetic torquer in a given period by an integral smoothing processing mode, and determining an output change threshold of the magnetic torquer according to an integral operation result;
(4) And (3) taking the output change threshold value of the magnetic torquer obtained in the step (3) as the output effectiveness judgment basis of the magnetic torquer in a given period, establishing an on-orbit fault autonomous diagnosis model of the magnetic torquer, and realizing the on-orbit fault autonomous diagnosis of the magnetic torquer.
2. The autonomous diagnosis method for the on-orbit fault of the magnetic torquer based on linear regression according to claim 1, wherein the method is characterized by comprising the following steps of:
in the step (1), the magnetic torquer input/output model specifically includes:
y＝f(x,a)+b
wherein x is exciting current of the magnetic torquer, y is pulse width control quantity received by the magnetic torquer and calculated and output by a satellite-borne computer, f (x, a) is a nonlinear continuous function related to the exciting current of the magnetic torquer, and a and b are configuration parameters for describing the relation between the exciting current of the magnetic torquer and the pulse width control quantity.
3. The autonomous diagnosis method for the on-orbit fault of the magnetic torquer based on linear regression according to claim 1, wherein the method is characterized by comprising the following steps of:
in the step (3), the specific step of determining the output change threshold value of the magnetic torquer is as follows:
(3-1) fitting pulse width control quantity and exciting current curves which do not meet the linear relation, and integrating n groups of exciting currents and pulse width control quantity sample data in the time domain of S control periods to obtain a pulse width control quantity linear fitting theoretical value Y i True value y of telemetry sampling i The method specifically comprises the following steps:
wherein a is,
Are all
The configuration parameters of the fitting curve of the pulse width control quantity and the exciting current which do not meet the linear relation are set;
(3-2) Linear fitting of the theoretical value Y to the pulse Width control quantity i True value y of telemetry sampling i Difference after integration, wherein:
wherein E is S Is the integral difference;
(3-3) willLinear fitting theoretical value Y of pulse width control quantity in each control period i True value y of telemetry sampling i Respectively taking the maximum value E nSmax Minimum value E nSmin PerformingDetermining telemetry sampling threshold b after secondary integration Smin 、b Smax The method specifically comprises the following steps:
E nSmin ＝min(E S ),E nSmax ＝max(E S ),
b Smin ＝min(E nSmin ),b Smax ＝max(E nSmax )；
(3-4) determining a magnetic torquer output change threshold value which needs to be met by a pulse width control quantity telemetering sampling true value according to the telemetering sampling threshold value obtained in the step (3-3), wherein the magnetic torquer output change threshold value specifically comprises the following steps:
4. the autonomous diagnosis method for the on-orbit fault of the magnetic torquer based on linear regression according to claim 1, wherein the method is characterized by comprising the following steps of:
in the step (4), if the output of the magnetic torquer in the selected S control periods meets the judgment of the output change threshold value of the magnetic torquer, the output data is valid, otherwise, the output data is invalid.
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