CN111966517A - On-orbit autonomous anomaly detection method for hierarchical spacecraft control system - Google Patents
On-orbit autonomous anomaly detection method for hierarchical spacecraft control system Download PDFInfo
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Abstract
The invention relates to an in-orbit autonomous anomaly detection method for a hierarchical spacecraft control system, which is widely applied to on-satellite autonomous anomaly detection of high, medium and low orbit satellites and spacecrafts such as spacecrafts, space stations and deep space probes, and can obviously improve the robustness of the spacecraft control system and the stability of the spacecraft in-orbit full life cycle. The method divides the possible abnormal phenomena of the control system into three levels, namely a single machine hardware information level, a single machine data software discrimination level and a system level, and formulates different abnormal isolation and processing methods according to the level of the detected abnormality. The method is used for the use of on-satellite closed-loop control-oriented components and data, the anomaly detection and the hierarchical interpretation and processing of the control system are realized, the hierarchy is clear, the logical link is clear, the complex data and signal processing are not used, the method is suitable for fixed-period real-time calling of on-satellite computers, and the on-orbit application effect shows that the method can effectively improve the autonomy and the real-time property of the anomaly detection of the control system, further promote the robustness and the robustness of a spacecraft control system by popularization and application, and improve the stable operation capability of the spacecraft in-orbit full life cycle.
Description
Technical Field
The invention relates to an on-orbit autonomous anomaly detection method for a hierarchical spacecraft control system, belongs to the field of design of spacecraft control systems, is widely applied to on-satellite autonomous anomaly detection of high and medium low orbit satellites and spacecrafts such as spacecrafts, space stations and deep space probes, can obviously improve the robustness and robustness of the spacecraft control system, and improves the capability of stable operation of the spacecraft in an on-orbit full life cycle.
Background
With the development of the application field of the spacecraft and the progress of the aerospace technology, the inherent characteristics and the working tasks of the effective loads such as the antenna and the camera are more and more complex, and higher task requirements and technical indexes are provided for the attitude orbit control system of the spacecraft platform. The spacecraft control system is a most complex subsystem in the whole spacecraft system, bears attitude control and orbit control tasks of various high-low orbit satellite platforms, realizes attitude maneuver and orbit maneuver of the satellite platforms according to a satellite launching flight control flow and the working requirement of effective loads, and can maintain a set working orbit as required and stabilize at a nominal attitude. However, due to the complex space environment influence and the limitation of the spacecraft ground test, unexpected abnormal phenomena often occur in the actual on-orbit stage of the spacecraft, once the control system is in error, not only can the guarantee condition of the load be difficult to maintain due to the fact that the index is out of limit, but also the spacecraft has a high probability of losing the attitude reference in a short time, and even threatens the whole satellite structure and energy safety, which is fatal to the on-orbit mission.
The research on spacecraft fault diagnosis has gained sufficient attention and a large amount of investment, and has obtained richer theoretical research results, and the fault diagnosis method can be generally divided into three categories, namely a mathematical model-based method, a signal processing-based method and a knowledge-based method, and has relatively complex data processing requirements no matter whether the model-based method or the knowledge-based method is model-independent, so that a certain application result is obtained in a ground measurement and control system. However, the method for detecting and processing the autonomous anomaly on the satellite is usually more suitable for using a design method with clear flow, complete logic and direct means, and attaches importance to timely elimination and isolation of a fault source, while analysis on a specific fault reason and fault property is usually handed over to ground processing.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method is based on the stable operation of the spacecraft control system, divides the possible abnormal phenomena of the control system into three levels, namely a single-computer hardware information level, a single-computer data software discrimination level and a system level, completes the abnormal detection of the three levels in turn by designing the on-satellite software, and formulates different on-orbit autonomous abnormal isolation and processing methods according to the level of the abnormal.
The technical solution of the invention is as follows:
an on-orbit autonomous anomaly detection method for a hierarchical spacecraft control system divides an anomaly phenomenon of the spacecraft control system into three levels, wherein the three levels are a stand-alone hardware information level, a stand-alone data software discrimination level and a system level respectively, the stand-alone hardware information level is a first level, the stand-alone data software discrimination level is a second level, the system level is a third level, and the stand-alone comprises various sensors and execution mechanisms; the stand-alone hardware information level refers to hardware information acquired by a stand-alone, and the stand-alone data software discrimination level refers to data information output by the stand-alone;
the method comprises the following steps:
(1) in the data reading period of each single computer, autonomously performing first-level anomaly detection through on-satellite software, namely single computer hardware information level anomaly detection: carrying out anomaly detection on hardware acquisition information of a single machine (comprising various sensors and actuating mechanisms) of a spacecraft control system, calling hardware information level anomaly isolation and processing corresponding to the single machine if the hardware information is abnormal, meanwhile, accumulating the duration of the hardware information anomaly of the single machine for fault qualification, and carrying out anomaly detection of a second level if the hardware information is normal, namely step (2);
(2) in the data reading period of each single computer, autonomously performing second-level anomaly detection through on-satellite software, and judging-level anomaly detection through single computer data software: carrying out anomaly detection on measurement data information output by a single machine (comprising various sensors and actuating mechanisms) of a spacecraft control system, calling data software corresponding to the single machine to judge stage anomaly isolation and processing when satellite software detects that the output measurement data is abnormal, accumulating the anomaly duration of the measurement data output by the single machine for fault qualification, normally using the measurement data output by the single machine if the anomaly is not found in the measurement data output by the single machine, and carrying out third-level anomaly detection, namely step (3);
(3) and in each control cycle, autonomously performing third-level abnormality detection, namely system-level abnormality detection through on-board software: calculating the current state of the control system according to the measurement data output by the single machine, when the on-board software detects that the current state of the control system is abnormal, performing sensor and actuator reconstruction, control mode switching, control stopping or sun-to-sun orientation to ensure that the whole star structure/mechanism is not damaged or the energy and fuel safety is endangered due to attitude instability of the control system, and when the on-board software detects that the current state of the control system is not abnormal, normally executing the on-board control process;
in the step (1), the hardware information exception is: the power state is abnormal, the motor current exceeds a normal range, the temperature exceeds a normal range, the communication state is abnormal or the validity of the single machine is marked to be abnormal; the normal range is a set range which can be set according to the physical characteristics of the single machine, ground test data and on-orbit working conditions;
in the step (1), invoking the hardware information level exception isolation and processing corresponding to the single machine means: when the measured data of the single machine is accessed into the control closed loop, other single machines which can achieve the same measurement or execution function are switched to use, when the subsequent accumulated abnormal duration is greater than a set threshold value, the single machine is judged to be in fault, and the single machine power-off operation is carried out on a fault representation form with diffusion characteristics; the fault characterization form with diffusion characteristics refers to: if the fault single machine does not perform the power-off operation, secondary faults of the same type of single machine can be caused, such as: if the oil temperature of a certain gyro is abnormal, if the power-off operation is not carried out in time, the oil temperature of other gyros is increased to cause the abnormality of other gyros;
when the measured data of the single machine is not accessed to the control closed loop, time delay processing is carried out, when the subsequently accumulated abnormal duration is greater than a set threshold value, the single machine is judged to be in fault, and the single machine power-off operation is carried out on a fault representation form with diffusion characteristics; the fault characterization form with diffusion characteristics refers to: if the fault single machine does not perform the power-off operation, secondary faults of the same type of single machine can be caused, such as: if the oil temperature of a certain gyro is abnormal, if the power-off operation is not carried out in time, the oil temperature of other gyros is increased to cause the abnormality of other gyros;
in the step (2), the detection of the output measurement data abnormality by the on-board software means that any one of the conditions that the measurement data does not satisfy a data constraint condition, the measurement data exceeds a set threshold, the measurement data jumps, the measurement data is not updated, a noise variance estimation value of the measurement data exceeds the set threshold, the consistency of the measurement data and a theoretical value does not satisfy the set threshold, the measurement data embodies performance loss (deviating from a design index), the measurement data does not satisfy the output consistency set threshold of the same type of component, and the measurement data does not satisfy the equivalent consistency detection threshold of the measurement information of the non-same type of component;
calling the data software corresponding to the single machine to judge the level exception isolation and processing means that: when the measured data of the single machine is accessed into the control closed loop, other single machines which can achieve the same measurement or execution function are switched to use, and when the subsequent accumulated abnormal duration is greater than a set threshold value, the single machine is judged to be in fault;
when the measured data of the single machine is not accessed to the control closed loop, delay processing is carried out, and when the subsequently accumulated abnormal duration is greater than a set threshold value, the single machine is judged to be in fault;
in the step (3), the system level exception is: the control performance is reduced due to the single machine abnormality which is not detected in the step (1) and the step (2), the air injection quantity in a given time is larger than a set threshold value due to the single machine abnormality which is not detected in the step (1) and the step (2), the sailboard cannot be matched with the sun due to the single machine abnormality which is not detected in the step (1) and the step (2), the control performance is reduced due to an unknown fault source, the air injection quantity in the given time is larger than the set threshold value due to the unknown fault source, or the sailboard cannot be matched with the sun due to the unknown fault source; the control performance degradation means that: the attitude angle error exceeds a set threshold or the attitude angular velocity error exceeds a set threshold.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention reads and processes the abnormal detection of the control system in a layered manner, has clear layers and definite logic links, does not emphasize fault diagnosis and positioning, but faces to the use of components and data of on-satellite closed-loop control, provides an abnormal detection method suitable for fixed-period real-time calling of on-satellite computers, and provides an on-satellite autonomous abnormal isolation and processing method aiming at different levels of abnormal;
(2) the hierarchical anomaly detection and processing flow of the spacecraft control system has strong coverage on various anomalies of the attitude orbit control system, and fully integrates single-machine physical information, single-machine data information, consistency information of similar components and fusion information of non-similar components;
(3) the method provides final system-level anomaly detection for the condition that the single-level detection fails due to non-obvious single-machine anomaly, performs data and logical abstraction on the anomaly characterization influencing the control performance, the safety of the whole satellite structure and the safety of energy sources, is convenient to detect, and practically improves the robustness and the safety of the spacecraft control system.
(4) The method provided by the patent does not use complex data and signal processing, avoids interpretation time lag caused by a process detection algorithm, is suitable for on-orbit real-time detection and processing, effectively improves the autonomy and instantaneity of abnormal detection of the control system, and has high engineering practical value.
(5) The technical content of the invention is widely applied to high, medium and low orbit satellites and spacecrafts such as spacecrafts, space stations, deep space probes and the like, and the invention is successfully applied to a plurality of high, medium and low orbit spacecraft models, effectively improves the autonomy and the real-time property of the abnormal detection of a control system, practically improves the robustness and the robustness of the spacecraft control system, and provides continuous and stable operation service in orbit for users.
Drawings
FIG. 1 is a flow chart of an in-orbit autonomous anomaly detection method for a hierarchical spacecraft control system according to the present invention;
FIG. 2 is a star sensor attitude determination process for a slow-change fault handling whole process of the star sensor on a star;
FIG. 3 is a star sensor determination attitude during a slow change process of the star sensor;
FIG. 4 is a sun sensor attitude determination process for a slowly varying fault of a star sensor on a star;
FIG. 5 is a three-axis inertial angular velocity of a slowly varying fault processing process for a star sensor on a satellite;
FIG. 6 is an actual attitude of an orbital system on a star in the process of processing a slowly varying fault of a star sensor;
FIG. 7 is a control mode word switching situation of a slowly varying fault processing process of a star sensor on a satellite.
Detailed Description
The specific implementation of the process of the invention is shown in FIG. 1.
A spacecraft (satellite) control system is arranged and comprises 1 star sensor, 1 set of three-axis mechanical gyroscope, 1 two-axis digital sun sensor and a chemical thruster. The satellite designs a normal ground mode and a safety mode: when the satellite is in a normal ground mode, the three-axis nominal attitude is superposed with an orbit coordinate system, the attitude of the three axes relative to the orbit system is determined by using a star sensor in on-satellite measurement, and the gyroscope provides three-axis inertial angular velocity; when the satellite is in the safety mode of the sun, the-Z axis of the satellite body points to the sun, and the sailboard is set at a fixed angle of the sun, so that the optimal energy condition is provided for the whole satellite.
And (3) setting the satellite in a normal ground mode, reading the measurement data of the star sensor by the control system every period to determine the error of the three-axis relative to the nominal attitude of the satellite, and reading the data of the gyroscope to determine the angular velocity of the three-axis attitude. In order to describe a specific implementation mode of the in-orbit autonomous anomaly detection method of the hierarchical spacecraft control system and verify the effect of the method, in the embodiment, after a certain moment is set, a slowly varying fault occurs to the star sensor, so that the measured data gradually deviates from the true value.
The in-orbit autonomous anomaly detection method for the hierarchical spacecraft control system disclosed by the invention is used for in-orbit autonomous anomaly detection, and mainly comprises the following steps:
(1) the anomaly detection of the first level is automatically carried out through on-board software, namely the anomaly detection of the information level of the single-machine hardware: carrying out anomaly detection aiming at hardware acquisition information of the star sensor, the gyroscope and the digital sun sensor, wherein the anomaly detection comprises a power-on state of the star sensor, a data communication state, a working mode of a product and an effectiveness mark of the product; the power-up state, the motor current and the oil temperature of the mechanical gyroscope; the communication state of the digital sun sensor is shown in the sun mark. And through detection, the information acquired by the single-machine hardware is normal. Sequentially carrying out anomaly detection of a second level, namely step (2);
(2) and autonomously performing second-level anomaly detection through on-satellite software, and judging-level anomaly detection through single-computer data software: aiming at output data information of a gyroscope and a digital sun sensor, data abnormality is not found according to reasonability of a data range and comparison of output data and a latest effective measured value, software-level abnormality detection aiming at measurement data of the star sensor comprises detection of a measurement time scale and a star time error (data reasonable range), detection of a quaternion digital modulus value (data constraint condition) and detection of a constant value fault (measurement data is not updated), and the condition that the output data slowly-changing fault occurs in the star sensor is specially set before, and the method belongs to the condition that the single-machine detection fails due to the non-obvious single-machine abnormality, so the abnormality cannot be identified in the step. Sequentially carrying out anomaly detection of a third level, namely step (3);
(3) and autonomously performing third-level anomaly detection through on-board software, namely system-level anomaly detection: as the slow change fault of the star sensor output data belongs to the non-significant single-machine abnormality, the single-machine abnormality which is not detected in the step (1) and the step (2) is formed, and the error data cannot be eliminated in the step (1) or the step (2). The current state of the control system is solved by integrating single machine measurement data, the attitude deviates from a normal value when error data enters a control closed loop, the star sensitive measurement output is changed slowly all the time, finally, the attitude error is out of limit, the star is autonomously identified as system-level abnormality with reduced control performance, the sun-oriented mode is autonomously switched to the sun-oriented mode, the energy safety is maintained by using a digital sun sensor, and the normal output of the star sensor is recovered after the ground is processed subsequently, and then the normal ground-oriented mode is switched back by remote control.
In the embodiment, a slope error of about 0.005 degree/second of star sensor measurement superposition average change rate is set from 600s, the non-significant single-computer abnormality cannot be diagnosed through star sensor single-computer hardware information-level abnormality detection and single-computer data software discrimination-level abnormality detection, error data enters a control closed loop to gradually cause the attitude angle error to exceed a set threshold, the system-level abnormality detection identifies the system-level abnormality with reduced control performance, and the mode is switched to a counterglow safety mode about 1416s after the attitude angle error exceeds the set threshold for 64 seconds. In the safety mode of the sun, the solar search and the solar orientation are completed in about 2310s by using the solar sensor and the gyro attitude determination. Fig. 2 shows the star sensor determination attitude in the whole process of star sensor slow-change fault processing on the star, fig. 3 is the star sensor determination attitude in the star sensor slow-change process, fig. 4 is the sun sensor determination attitude in the process of star sensor slow-change fault processing on the star, fig. 5 is the triaxial inertia angular velocity in the process of star sensor slow-change fault processing on the star, fig. 6 is the orbital system actual attitude in the process of star sensor slow-change fault processing on the star, and fig. 7 is the control mode word switching situation in the process of star sensor slow-change fault processing on the star (mode word 4 represents the normal ground mode, and mode word 0 represents the safety mode). The embodiment shows that when the star sensor has a non-significant single-machine fault such as measurement data slow change, the anomaly can be automatically identified and processed by a hierarchical autonomous anomaly detection method, so that the satellite can be timely switched to a counterglow safety mode to ensure energy safety. Therefore, the in-orbit autonomous anomaly detection method for the hierarchical spacecraft control system can effectively prevent the whole satellite structure/mechanism from being damaged or endangering energy and fuel safety caused by attitude instability of the control system.
Claims (10)
1. An on-orbit autonomous anomaly detection method for a hierarchical spacecraft control system is characterized by comprising the following steps:
(1) in the data reading period of each single computer, autonomously performing first-level anomaly detection through on-satellite software, namely single computer hardware information level anomaly detection: carrying out anomaly detection on hardware acquisition information of a single machine of a spacecraft control system, calling hardware information level anomaly isolation and processing corresponding to the single machine if the hardware information is abnormal, and meanwhile, accumulating the duration of the hardware information anomaly of the single machine, and carrying out anomaly detection of a second level if the hardware information is normal;
(2) in the data reading period of each single computer, autonomously performing second-level anomaly detection through on-satellite software, and judging-level anomaly detection through single computer data software: carrying out anomaly detection on measurement data information output by a single machine of a spacecraft control system, calling data software corresponding to the single machine to judge abnormal isolation and processing when the satellite software detects that the output measurement data is abnormal, meanwhile, accumulating abnormal duration of the measurement data output by the single machine, normally using the measurement data output by the single machine if the measurement data output by the single machine is not abnormal, and carrying out third-level anomaly detection;
(3) and in each control cycle, autonomously performing third-level abnormality detection, namely system-level abnormality detection through on-board software: and resolving the current state of the control system according to the measurement data output by the single machine, performing single machine reconstruction, control mode switching, control stopping or sun-to-sun orientation when the on-board software detects that the current state of the control system is abnormal, and normally executing the on-board control process when the on-board software detects that the current state of the control system is not abnormal.
2. The on-orbit autonomous anomaly detection method for the hierarchical spacecraft control system according to claim 1, characterized in that: the spacecraft control system single machine comprises various sensors and actuating mechanisms.
3. The on-orbit autonomous anomaly detection method for the hierarchical spacecraft control system according to claim 1, characterized in that: the method divides the abnormal phenomenon of the spacecraft control system into three levels.
4. The on-orbit autonomous anomaly detection method for the hierarchical spacecraft control system according to claim 3, characterized in that: the three levels are a stand-alone hardware information level, a stand-alone data software discrimination level and a system level respectively.
5. The on-orbit autonomous anomaly detection method for the hierarchical spacecraft control system according to claim 4, characterized in that: the stand-alone hardware information level refers to hardware information acquired by a stand-alone, and the stand-alone data software discrimination level refers to data information output by the stand-alone.
6. The on-orbit autonomous anomaly detection method for the hierarchical spacecraft control system according to claim 1, characterized in that: in the step (1), the hardware information exception is: the power state is abnormal, the motor current exceeds a set threshold, the temperature exceeds a set threshold, the communication state is abnormal or the single machine self-effectiveness flag is abnormal.
7. The on-orbit autonomous anomaly detection method for the hierarchical spacecraft control system according to claim 1, characterized in that: in the step (1), invoking the hardware information level exception isolation and processing corresponding to the single machine means: when the measured data of the single machine is accessed into the control closed loop, other single machines which can achieve the same measurement or execution function are switched to use, when the subsequent accumulated abnormal duration is greater than a set threshold value, the single machine is judged to be in fault, and the single machine power-off operation is carried out on a fault representation form with diffusion characteristics; the fault characterization form with diffusion characteristics refers to: if the fault single machine does not perform power-off operation, secondary faults of the same type of single machine can be caused;
when the measured data of the single machine is not accessed to the control closed loop, time delay processing is carried out, when the subsequently accumulated abnormal duration is greater than a set threshold value, the single machine is judged to be in fault, and the single machine power-off operation is carried out on a fault representation form with diffusion characteristics; the fault characterization form with diffusion characteristics refers to: if the fault single machine does not perform power-off operation, secondary faults of the same type of single machine can be caused.
8. The on-orbit autonomous anomaly detection method for the hierarchical spacecraft control system according to claim 1, characterized in that: in the step (2), the detection of the output measurement data abnormality by the on-board software means that any one of the conditions that the measurement data does not satisfy the data constraint condition, the measurement data exceeds the set threshold, the measurement data jumps, the measurement data is not updated, the noise variance estimation value of the measurement data exceeds the set threshold, the consistency of the measurement data and the theoretical value does not satisfy the set threshold, the measurement data represents the performance loss, the measurement data does not satisfy the output consistency set threshold of the same type of component, and the measurement data does not satisfy the equivalent consistency detection threshold of the measurement information of the non-same type of component.
9. The on-orbit autonomous anomaly detection method for the hierarchical spacecraft control system according to claim 1, characterized in that: in the step (2), invoking the discrimination level exception isolation and processing of the data software corresponding to the single computer means: when the measured data of the single machine is accessed into the control closed loop, other single machines which can achieve the same measurement or execution function are switched to use, and when the subsequent accumulated abnormal duration is greater than a set threshold value, the single machine is judged to be in fault;
and when the measured data of the single machine is not accessed to the control closed loop, performing delay processing, and when the subsequent accumulated abnormal duration is greater than a set threshold, judging that the single machine has a fault.
10. The on-orbit autonomous anomaly detection method for the hierarchical spacecraft control system according to claim 1, characterized in that: in the step (3), the system level exception is: the control performance is reduced due to the single machine abnormality which is not detected in the step (1) and the step (2), the air injection quantity in a given time is larger than a set threshold value due to the single machine abnormality which is not detected in the step (1) and the step (2), the sailboard cannot be matched with the sun due to the single machine abnormality which is not detected in the step (1) and the step (2), the control performance is reduced due to an unknown fault source, the air injection quantity in the given time is larger than the set threshold value due to the unknown fault source, or the sailboard cannot be matched with the sun due to the unknown fault source; the control performance degradation means that: the attitude angle exceeds a set threshold or the attitude angular velocity exceeds a set threshold.
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