CN111806727B - Operating system-based satellite attitude and orbit control application software architecture design method - Google Patents
Operating system-based satellite attitude and orbit control application software architecture design method Download PDFInfo
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Abstract
The invention discloses a satellite attitude and orbit control application software architecture design method based on an operating system, which forms operation modes and an attitude and orbit control application software architecture by using similar structures, completes the switching and operation of each attitude and orbit control operation mode by using a finite state machine, and can enable the attitude and orbit control software to be freely switched on three working modes of state forced keeping, state forced in and out and state autonomous control by using a ground instruction, wherein the switching freedom degree reaches 100%. The attitude and orbit control application software architecture design method provided by the invention can improve the capability of free action of the attitude and orbit control application software state, improve the expandability and maintainability of the attitude and orbit control software, and ensure the long-term stable operation of the software in the air.
Description
Technical Field
The invention relates to a satellite attitude and orbit control application software architecture design method based on an operating system, and belongs to the field of satellite control system development and design.
Background
The satellite control system is a subsystem responsible for control in the whole satellite, and because a processor and a memory of the satellite control system need enhanced functions such as high reliability, single event upset prevention and the like, the processor and the memory of the satellite control system are small compared with a computer, the speed of the processor is low, so that the software design of the satellite control system is very compact, all hardware bottom layer operations are responsible for designers, modules are mainly realized step by using a function decomposition method, and all modules are decomposed layer by layer and stacked to finally form the whole system. Due to the complexity of the attitude control system, a plurality of software modules are provided, the relationship between the modules is complex, the development is difficult, and the maintenance is also complex. Software modification becomes difficult every time a function is added to the system, and the on-track maintainability is poor.
For the processing of multiple states in the attitude and orbit control system, designers mainly use multiple layers of functions to implement, and the operations of establishing, switching, waiting, cancelling and the like among the multiple states all need strong software design capability and implementation capability, which results in that generally, related instruction switching actions are only carried out for specific or important modes, instruction switching functions cannot be reserved for all the states, and the switching actions are less than 100%.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method overcomes the defects of the prior art, provides a satellite attitude and orbit control application software architecture design method based on an operating system, finishes the switching and operation of each operating mode of attitude and orbit control by using a finite state machine, can ensure that the degree of freedom of switching the working state of the attitude and orbit control software reaches 100 percent through instructions, can realize free switching of each mode, can improve the flexibility of an attitude control software system, and ensures that the state is more flexible and the maintainability is higher.
The technical solution of the invention is as follows:
a satellite attitude and orbit control application software architecture design method based on an operating system comprises the following steps:
the satellite attitude and orbit control application software comprises N operation modes, wherein the structure of each operation mode is the same, the realization means is the same, and the realization functions are different; n is a natural number greater than 1;
when the satellite is autonomously controlled, the satellite attitude and orbit control application software realizes the switching and operation among the operation modes in a finite state machine mode;
when the ground control is required to be in a specific operation mode or perform related operation, the satellite attitude and orbit control application software receives a ground instruction and freely switches among three working modes of state forced keeping, state forced entering and self exiting and state self control according to the ground instruction.
Each operation mode comprises six modules of satellite attitude determination, target attitude determination, control algorithm processing, calculation output, output control and exit condition processing, and the same modules in different operation modes have the same implementation means and different implementation functions.
The method for realizing switching and operation among the operation modes by the satellite attitude and orbit control application software in a finite state machine mode is as follows:
one state represents an operation mode, the entering condition of the state is used as the starting condition of the operation mode, the exiting condition of the state is used as the ending condition of the operation mode, and the operation mode is switched to the next operation mode, and the functions of the whole satellite attitude and orbit control system are completed through continuous circulation and circulation of the state, so that the whole satellite attitude and orbit control system becomes an organic circulation whole.
The specific method for receiving the ground instruction by the satellite attitude and orbit control application software and freely switching the three working modes of state forced keeping, state forced entering and autonomous exiting and state autonomous control according to the ground instruction is as follows:
a) the satellite attitude and orbit control application software receives and analyzes the ground command, if the ground command is a state forced keeping command,
entering b), otherwise, judging whether the command is a state forced entering and self-exiting command, if so, entering c),
otherwise, entering d);
b) checking whether the state in the state forced keeping instruction is the same as the current state of the satellite or not, if so, indicating that the current state needs to be changed, marking the state as the state change, and entering e); if the state is the same, marking that the state does not need to be changed, and then entering e);
c) judging whether the instruction comes for the first time, if so, comparing the state in the instruction which is forced to enter and automatically exits with the current state, if so, marking that the state does not need to be changed, and entering e); if not, marking as changed, and entering e); if the instruction does not come for the first time, marking as not needing to be changed, and entering e);
d) judging whether the command is an autonomous control command, if so, not making redundant actions, directly marking the command as not needing to be changed, and entering e), otherwise, marking the command as not needing to be changed, and entering e);
e) and if the mark is not required to be changed, the state of the satellite is not changed, and the satellite is still in the current state.
The invention has the following beneficial effects:
by applying the method, the satellite state formed by all similar modules in the software is kept consistent with the satellite state term in the satellite attitude control design in concept, so that the software is easy to understand and maintain.
By applying the method of the invention, each mode is similar and can realize the same operation, and the mode switching can reach 100 percent without delineating specific or important modes. And the expansibility of task execution is improved.
The method of the invention can not only maintain the mode forcibly, but also enter and rotate out forcibly, thereby improving the flexibility of the mode action and meeting the specific control requirements of services such as maintenance, upgrading and the like.
Drawings
FIG. 1 is a schematic diagram showing the components of the present invention in various modes of operation;
FIG. 2 is a schematic view of state switching;
fig. 3 is a schematic flow chart of the free switching process of the satellite attitude and orbit control application software according to the ground instruction in three working modes of state forced keeping, state forced entering and autonomous exiting and state autonomous control.
Detailed Description
The present invention will be described in further detail below with reference to the accompanying drawings.
Aiming at the problems in the prior art, in order to complete a control index with higher complexity, attitude and orbit control software which has more flexible development functions and is easier to maintain based on a real-time operating system becomes a necessary option, the introduction of the real-time operating system enables the attitude control system to release bottom layer processing and concentrate on the processing of the attitude control function, and meanwhile, the increase of the attitude control task also enables the flexibility capability of the software to be greatly improved and the on-orbit maintainability to be greatly improved.
The satellite attitude and orbit control application software based on the operating system forms the operation modes by a similar structure and forms an attitude and orbit control application software framework, the finite state machine is used for completing the switching and operation of each attitude and orbit control operation mode, and the attitude and orbit control software can be freely switched on three working modes of state forced keeping, state forced entering and self-exiting and state self-control by ground instructions, so that the capability of freely acting the states of the attitude and orbit control application software can be improved, the freedom and flexibility of switching the attitude and orbit control application software can be greatly improved, the capability of coping with complex tasks can be improved, the maintainability and the expandability of the software can be improved, and the long-term stable operation of the attitude and orbit control application software in the air can be ensured.
The invention provides a satellite attitude and orbit control application software architecture design method based on an operating system, which comprises the following steps:
the satellite attitude and orbit control application software comprises N operation modes, wherein the structure of each operation mode is the same, the realization means is the same, and the realization functions are different; n is a natural number greater than 1;
specifically, as shown in fig. 1, each operation mode includes six modules, namely a satellite attitude determination module, a target attitude determination module, a control algorithm processing module, a calculation output module, an output control module and an exit condition processing module, and the same modules in different operation modes have the same implementation means and different implementation functions.
In the invention, all the operation modes adopt the same processing mode, thereby forming a plurality of modes with similar compositions but different functions and laying a foundation for subsequent free switching.
When the satellite is autonomously controlled, the satellite attitude and orbit control application software realizes the switching and operation among the operation modes in a finite state machine mode;
one state represents an operation mode, the entering condition of the state is used as the starting condition of the operation mode, the exiting condition of the state is used as the ending condition of the operation mode, and the operation mode is switched to the next operation mode, for example, as shown in fig. 2, the entering condition of the speed damping mode is that a star-arrow separation signal is sent out, the exiting condition is that the speed damping is in place, so that the sailboard is switched to the next state for unfolding, that is, the entering condition of the sailboard unfolding mode is that the speed damping is in place, the exiting condition is that the sailboard is unfolded in place, and then the operation mode is switched to the next state for searching the sun. The functions of the whole satellite attitude and orbit control system are completed through continuous circulation and circulation of states, so that the whole satellite attitude and orbit control system becomes an organic circulation whole. The task concept of the satellite attitude and orbit control application software completely conforms to the software requirement, the problem domain and the solution domain are unified, and the understanding and the maintenance are easy.
When the ground control is required to be in a specific operation mode or perform related operation, the satellite attitude and orbit control application software receives a ground instruction and freely switches among three working modes of state forced keeping, state forced entering and self exiting and state self control according to the ground instruction.
The specific method comprises the following steps:
a) and the satellite attitude and orbit control application software receives and analyzes the ground command. If the command is a forced keeping command, entering b), otherwise, judging whether the command is a forced entering command or an automatic exiting command, if so, entering c), otherwise, entering d).
b) And (4) checking whether the current state of the satellite is the same as the current state of the satellite, if the current state of the satellite is different from the current state of the satellite, indicating that the current state needs to be changed, marking the state to be changed, and entering into e). If they are the same, the flag is not changed in state, which ensures that no redundant actions are taken, and no state change is made when no change is required, and then e) is entered.
c) And (4) judging whether the instruction comes for the first time, if so, comparing with the current state, if so, marking that the state does not need to be changed, and entering into e). If not, the flag is changed. If not the first time, the flag is not to be changed. Enter e).
d) And judging whether the command is an autonomous control command, if so, not performing redundant actions, directly marking the command as not needing to be changed, and entering into an e), and if not, marking the command as not needing to be changed, and entering into the e).
e) And if the mark is not required to be changed, the state of the satellite is not changed, and the satellite is still in the current state.
As shown in fig. 3.
After the operation, the satellite can be freely switched among the three states of forced keeping, forced entering and automatic exiting and automatic control, and the satellite can be kept in any state and can be automatically rotated out of the current state when meeting appropriate conditions by combining the free circulation of the former 100% state. For example, when the satellite needs to maintain energy, the satellite can be forced to maintain the posture of the satellite relative to the sun, so that the safety of the satellite can be ensured.
The invention designs a single state module to form the most basic state by using a modularization thought, the state modules are mutually independent, and various small functional modules which are mutually multiplexed are arranged below the modules. The switching and the operation of each operation mode of attitude and orbit control are finished in a finite state machine mode, and the freedom degree of the operation mode switching can reach 100 percent. In the remote control of the state machine, the satellite can be freely switched among three working modes of state forced keeping, state forced entering and autonomous exiting and state autonomous control by using three instructions.
The satellite mode control mode provided by the invention can improve the capability of free action of the satellite attitude and orbit control application software state and improve the expandability and maintainability of the attitude and orbit control software.
The above embodiments are only used for illustrating the present invention, and the specific mode configuration, the state machine division and the implementation manner of the three instructions are all changed, and all equivalent changes and modifications performed on the basis of the technical solution of the present invention should not be excluded from the protection scope of the present invention.
Claims (2)
1. A satellite attitude and orbit control application software architecture design method based on an operating system is characterized by comprising the following steps:
the satellite attitude and orbit control application software comprises N operation modes, wherein the structure of each operation mode is the same, the realization means is the same, and the realization functions are different; n is a natural number greater than 1;
when the satellite is autonomously controlled, the satellite attitude and orbit control application software realizes the switching and operation among the operation modes in a finite state machine mode;
when the ground control is required to be in a specific operation mode or to perform related operation, the satellite attitude and orbit control application software receives a ground instruction and freely switches among three working modes of state forced keeping, state forced entering and self-exiting and state self-controlling according to the ground instruction;
each operation mode comprises six modules of satellite attitude determination, target attitude determination, control algorithm processing, calculation output, output control and exit condition processing, and the same modules in different operation modes have the same implementation means and different implementation functions;
the specific method for receiving the ground instruction by the satellite attitude and orbit control application software and freely switching the three working modes of state forced keeping, state forced entering and autonomous exiting and state autonomous control according to the ground instruction is as follows:
a) satellite attitude and orbit control application software receives and analyzes a ground instruction, if the ground instruction is a state forced keeping instruction, the satellite attitude and orbit control application software enters b), otherwise, whether the satellite attitude and orbit control application software is a state forced entering and self-exiting instruction is judged, if the satellite attitude and orbit control application software is the state forced keeping instruction, the satellite attitude and orbit control application software enters c), and if the satellite attitude and orbit control application software is not the state forced entering and self-exiting instruction, the satellite attitude and orbit control application software enters d);
b) checking whether the state in the state forced keeping instruction is the same as the current state of the satellite or not, if so, indicating that the current state needs to be changed, marking the state as the state change, and entering e); if the state is the same, marking that the state does not need to be changed, and then entering e);
c) judging whether the instruction comes for the first time, if so, comparing the state in the instruction which is forced to enter and automatically exits with the current state, if so, marking that the state does not need to be changed, and entering e); if not, marking as changed, and entering e); if the instruction does not come for the first time, marking as not needing to be changed, and entering e);
d) judging whether the command is an autonomous control command, if so, not making redundant actions, directly marking the command as not needing to be changed, and entering e), otherwise, marking the command as not needing to be changed, and entering e);
e) and if the mark is not required to be changed, the state of the satellite is not changed, and the satellite is still in the current state.
2. The operating system-based satellite attitude and orbit control application software architecture design method of claim 1, characterized in that: the method for realizing switching and operation among the operation modes by the satellite attitude and orbit control application software in a finite state machine mode is as follows:
one state represents an operation mode, the entering condition of the state is used as the starting condition of the operation mode, the exiting condition of the state is used as the ending condition of the operation mode, and the operation mode is switched to the next operation mode, and the functions of the whole satellite attitude and orbit control system are completed through continuous circulation and circulation of the state, so that the whole satellite attitude and orbit control system becomes an organic circulation whole.
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