CN112910030B - On-orbit autonomous management system and method of satellite energy system - Google Patents

On-orbit autonomous management system and method of satellite energy system Download PDF

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Publication number
CN112910030B
CN112910030B CN202110061310.4A CN202110061310A CN112910030B CN 112910030 B CN112910030 B CN 112910030B CN 202110061310 A CN202110061310 A CN 202110061310A CN 112910030 B CN112910030 B CN 112910030B
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storage battery
charging
satellite
autonomous
fault
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CN112910030A (en
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习成献
孔陈杰
张强
王学良
林宝军
沈苑
何盼
陈天明
李锐
石龙龙
王正凯
吴敏
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Shanghai Engineering Center for Microsatellites
Innovation Academy for Microsatellites of CAS
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Shanghai Engineering Center for Microsatellites
Innovation Academy for Microsatellites of CAS
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/007—Regulation of charging or discharging current or voltage

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention discloses an on-orbit autonomous management system of a satellite energy system, which comprises a plurality of sets of lower computer modules working independently in a cold backup mode, a plurality of sets of discharge regulating circuits and charge regulating circuits working independently and connected with a storage battery, and a control center. The discharge regulating circuit works in a hot backup mode, and the charge regulating circuit works in a cold backup mode. The power controller is enabled in an autonomous operation enabling state, an autonomous management state of the charging and discharging power regulating unit and an autonomous starting state of charging and discharging accident protection, the control center collects remote measuring parameters of the lower computer and the storage battery, compares the remote measuring parameters with preset values, judges whether a fault occurs or not and the type of the fault, and executes a corresponding preset instruction to perform autonomous recovery according to the type of the fault.

Description

On-orbit autonomous management system and method of satellite energy system
Technical Field
The invention relates to the technical field of aerospace, in particular to an in-orbit autonomous management system and method for a satellite energy system.
Background
The satellite energy system mainly refers to generation, change, regulation and distribution of electric energy and provides a primary power supply meeting technical requirements. The energy system is used as an important component of the satellite, bears the power supply and distribution tasks of the whole satellite, the safe and reliable operation of the energy system is an important guarantee for the normal operation of the satellite, and plays a determining role in improving the performance of the satellite and prolonging the in-orbit operation life of the satellite. According to statistical data of on-orbit operation faults of spacecrafts published at home and abroad in recent years, the probability of on-orbit faults of an energy system is higher than that of other subsystems, the on-orbit faults are the subsystems with higher probability of the faults of the spacecrafts, and the fault modes mainly include high and low temperature impact of the operation environment, electrostatic effect and circuit faults and performance attenuation caused by space charged particles. In addition, limited by the region of the ground measurement and control station, the ground station cannot track the satellite in real time in the whole process under most conditions, if the energy system fails in an arc section which cannot be measured, if measures are not taken in time, the optimal processing time of the failure is likely to be missed, the failure is likely to spread and loss is likely to increase, and even the safety of the whole satellite is likely to be endangered. Therefore, the autonomous health state and the autonomous operation capacity of the energy system are improved in the whole service life cycle of the satellite, and the reliability and the safety of the satellite are improved.
When the satellite energy supply is abnormal, the ground support is changed into the satellite autonomous control under the condition of being separated from the support of the ground operation control system, and the on-orbit generated fault is automatically and quickly identified, diagnosed and processed, so that the fault is eliminated or the fault influence is reduced, the energy balance of the satellite is ensured, and the autonomous operation capability of the satellite is improved. Particularly, in medium and high orbit satellites, the duration of the earth shadow season is long, and the duration of an uncontrollable arc segment is long, so that the development of energy autonomous fault diagnosis and recovery design is the key for ensuring the healthy and reliable operation of the satellite in the whole life cycle.
Disclosure of Invention
In view of some or all of the problems in the prior art, an aspect of the present invention provides an in-orbit autonomous management system for a satellite energy system, including:
a power supply controller comprising:
a plurality of sets of lower computer modules working independently work in a cold backup mode;
the system comprises a plurality of sets of discharge regulating circuits which work independently, wherein the discharge regulating circuits are connected to a storage battery and work in a hot backup mode; and
the charging regulating circuits work independently and are connected with the storage battery, and the charging regulating circuits work in a cold backup mode; and
a control center comprising:
the lower computer software is used for analyzing the telemetering data and distributing the indirect instruction;
the equalizer software is communicated with the power supply controller software through an RS422 bus and is used for acquiring and processing the telemetering parameters of the storage battery; and
and the satellite-borne computer is communicated with the power supply controller software through a 1553B bus and is used for acquiring parameters of the energy system and determining a recovery strategy when the energy system fails.
In another aspect, the present invention provides an in-orbit autonomous management method for a satellite energy system, including:
setting an autonomous operation enabling state, an autonomous management state of a charging and discharging power regulating unit and an autonomous starting state of charging and discharging accident protection as enabling;
collecting remote measuring parameters of a lower computer and a storage battery;
comparing the telemetering parameters with preset values, and judging whether a fault occurs and the type of the fault;
and executing a corresponding preset instruction to perform autonomous recovery according to the fault type.
Further, the fault categories include telemetry communication faults, battery discharge regulation faults, battery charge regulation faults, accidental triggering of charge regulation circuits, and accidental triggering of discharge regulation circuits.
Further, the determining of the fault and the fault category includes:
if the engineering parameter count of the continuous 10 frames is not updated and/or the reference voltage of the PCU of the continuous 10 frames is not in a specified range, determining that the communication fault is telemetering;
if the error voltage of the storage battery of 10 continuous frames is greater than or equal to a first preset threshold value and the charging current of the storage battery is less than or equal to a second preset threshold value, charging the storage battery to adjust faults;
if the voltages of the main error amplifying circuit, the shunt regulating circuit and the discharge regulating circuit are less than or equal to a third preset threshold value and the output current of the discharge regulating circuit is less than a fourth preset threshold value, charging the storage battery to regulate faults;
if the output current of the discharge regulating circuit is less than or equal to a fifth preset threshold, the discharge regulating circuit is triggered accidentally; and
and if the voltage of the storage battery pack is less than or equal to a sixth preset threshold value, the charging regulation circuit is triggered accidentally.
Further, the specified range is 2V to 7V, and/or the first preset threshold is 5V, and/or the second preset threshold is 0.3A, and/or the third preset threshold is 8.2V, and/or the fourth preset threshold is 3A, and/or the fifth preset threshold is-1A, and/or the sixth preset threshold is 36V.
Further, the autonomous recovery of the telemetry communication failure comprises:
sending instructions of 'main standby connection and disconnection of a lower computer of the power controller' and 'main standby connection and disconnection of a lower computer of the equalizer', wherein the time interval of the two instructions is 1 second, and after the two instructions are stabilized, the lower computer of the power controller is confirmed to be in main standby connection and disconnection through remote measurement, and the lower computer of the equalizer is in main standby connection and disconnection; and
judging the in-out shadow mark to determine the gear setting:
if the in-out response mark is '0', the satellite borne computer operates the storage battery pack according to the work mode after the image is shot: setting the PCU charging working condition as a resting state, setting the PCU charging working condition as an enabling state and setting the threshold value of a storage battery heater to be 1-5 ℃; setting the voltage of the storage battery pack to 5 grades; and the current gear of the storage battery is set to be 3 gears; and
if the in-out response mark is '1', the on-board computer operates the storage battery pack according to the working mode before the image is processed: setting the PCU charging working condition as full charging, setting the PCU charging working condition as enabling and setting the threshold value of a storage battery heater as 16-20 ℃; the voltage of the storage battery pack is set to 4 grades; and the battery current gear is set to 7.
Further, the autonomous recovery of the battery discharge regulation failure, the battery charge regulation failure, the charge regulation circuit accidental trigger, and the discharge regulation circuit accidental trigger is achieved by sending instructions to power down and/or power back up the faulty circuit.
Further, the on-orbit autonomous management method further includes: when the satellite power supply fails, the satellite-borne computer closes the load single machine according to a certain time sequence, the satellite enters a safety mode, and a storage battery pack is set according to the image-feeding operation: setting the PCU charging working condition as full charging and the threshold value of a storage battery heater as 16-20 ℃; the voltage of the storage battery pack is set to 4 grades; the current gear of the storage battery is set to be 7; and activating the battery gauge.
The in-orbit autonomous management system and the in-orbit autonomous management method of the satellite energy system provided by the invention have the advantages that the in-orbit autonomous fault diagnosis and recovery design of the energy system is provided aiming at the complex space electromagnetic environment of a medium and high orbit satellite, the verification is carried out on the Beidou navigation satellite, the dynamic real-time online state detection of the designed system can be verified through in-orbit data analysis, the in-orbit fault recognition diagnosis, processing and recovery of the satellite are effectively solved, in-orbit autonomous maintenance is realized, the service life of the satellite is prolonged, design and application references are provided for the subsequent in-orbit stable operation management of other models, and the in-orbit autonomous management system and the in-orbit autonomous management method have important engineering practice significance.
Drawings
To further clarify the above and other advantages and features of embodiments of the present invention, a more particular description of embodiments of the present invention will be rendered by reference to the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. In the drawings, the same or corresponding parts will be denoted by the same or similar reference numerals for clarity.
Fig. 1 is a schematic structural diagram of an in-orbit autonomous management system of a satellite energy system according to an embodiment of the invention;
fig. 2 is a schematic diagram illustrating an in-orbit autonomous management process of a lower computer of a satellite energy system according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating an in-orbit autonomous management flow of a power conditioning unit of a satellite energy system according to an embodiment of the invention;
fig. 4 is a schematic flow chart illustrating the protection of the power conditioning unit of the satellite energy system against accidental triggering according to an embodiment of the invention;
FIG. 5 illustrates a schematic flow diagram of autonomous operation of a satellite energy system, in accordance with an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a battery pack access autonomous management process of a satellite energy system according to an embodiment of the present invention;
FIGS. 7a-7b show the V of a Beidou satelliteBEA-BA voltage curve and a schematic diagram of the overcharge protection state of the storage battery B;
FIGS. 8a-8c are schematic diagrams of BCR1B/BCR2B/BCR3B power up states and input current curves for a Beidou satellite; and
FIG. 9 shows a schematic diagram of the A/B battery voltage curve of a Beidou satellite.
Detailed Description
In the following description, the present invention is described with reference to examples. One skilled in the relevant art will recognize, however, that the embodiments may be practiced without one or more of the specific details, or with other alternative and/or additional methods, materials, or components. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention. Similarly, for purposes of explanation, specific numbers, materials and configurations are set forth in order to provide a thorough understanding of the embodiments of the invention. However, the invention is not limited to these specific details. Further, it should be understood that the embodiments shown in the figures are illustrative representations and are not necessarily drawn to scale.
Reference in the specification to "one embodiment" or "the embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.
It should be noted that the embodiment of the present invention describes the process steps in a specific order, however, this is only for the purpose of illustrating the specific embodiment, and does not limit the sequence of the steps. Rather, in various embodiments of the present invention, the order of the steps may be adjusted according to process adjustments.
The satellite energy system comprises a power supply controller PCU, a solar battery array, a lithium ion storage battery pack, an equalizer and a distributor. The PCU serves as a control center of an energy system, adjusts energy transmission and power balance of the solar battery array and the lithium ion storage battery pack in the service life cycle of the satellite, provides a fully-adjusted and high-quality power supply bus for the platform and the load, and meets power requirements of the satellite in various working modes in the whole service life cycle. The PCU is functionally divided into a main error amplifying circuit MEA, a shunt regulator circuit S3R, a charge regulator circuit BCR, a discharge regulator circuit BDR, and a telemetric remote control circuit TM/TC. The MEA circuit is used as a regulation center, and the operations of S3R, BCR and BDR are uniformly regulated in a three-domain control mode. The MEA signal is the reference for realizing the control of the full-regulation bus, and the PCU can automatically switch to a corresponding working mode along with different load requirements. In the illumination period, S3R adjusts the solar cell array to supply power to the satellite load, and simultaneously charges the storage battery pack through BCR; and in the shadow period, the BDR regulates the storage battery to supply power to the satellite load.
In order to avoid serious faults of the whole satellite power supply and distribution caused by abnormal work of the PCU, the invention provides an on-orbit autonomous management system and method of a satellite energy system, and fault diagnosis and recovery design are respectively carried out on a lower computer module and a power regulation module of a power supply controller.
Firstly, in order to ensure the on-board energy supply to be normal, the power supply controller is designed redundantly, so thatThe power supply controller comprises 2 sets of lower computer modules working independently and 6 sets of BDR circuits working independently1A～BDR3A-、BDR1B～BDR3B-And 6 sets of BCR circuits BCR working independently1A～BCR3A-、BCR1B～BCR3B-. Wherein the lower computer module works in a cold backup mode, BDR1A～BDR3A-And BDR1B～BDR3B-Corresponding to the discharge function of the A storage battery pack and the B storage battery pack respectively, operating in a hot standby mode, and BCR1A～BCR3A-And BCR1B～BCR3B-The charging functions of the storage battery A and the storage battery B are respectively corresponding, and the storage battery A and the storage battery B work in a cold backup mode; and
secondly, as shown in fig. 1, the on-orbit autonomous management system connects the PCU lower computer software, the balance lower computer software and the satellite energy management software through a bus, so that the cooperative work is realized, and adopts important parameters representing key functions of the PCU as a judgment basis, and sets a reasonable judgment threshold, sampling time and times to perform autonomous fault diagnosis. In an embodiment of the invention, the on-orbit autonomous management system uniformly performs data acquisition and instruction distribution through a 1553B bus, wherein the balance lower computer software finishes acquisition and processing of remote measurement parameters of the storage battery and realizes information exchange with a PCU (Power control Unit) through an RS422 bus; the PCU lower computer software is communicated with the satellite-borne computer through a 1553B bus to complete distribution and analysis of telemetering data and indirect instructions; and the on-board computer acquires each key parameter through a 1553B bus, and sends a preset instruction to execute a corresponding strategy through the 1553B bus when an alarm is triggered. In other embodiments of the invention, the influence threshold analysis can be performed by the ground system according to the satellite state for subsequent operations.
Based on the on-orbit autonomous management system, when the modules are in an enabled state during autonomous operation, the on-orbit autonomous management system can perform power supply controller fault autonomous management, power supply system autonomous operation, auxiliary bus module fault alarm and storage battery pack in-out shadow autonomous management, and further realize energy system autonomous fault diagnosis and recovery design.
The power controller fault autonomous management needs to set corresponding power controller autonomous management enabling/disabling instructions and simultaneously has corresponding enabling/disabling states. The power supply controller fault self-management comprises PCU lower computer fault diagnosis and recovery, power regulation unit fault diagnosis and recovery and prevention of accidental triggering of the power regulation unit.
When the autonomous management of the lower computer allows, the fault diagnosis and recovery of the PCU lower computer can be carried out, as shown in FIG. 2, whether a telemetering communication fault occurs is judged through an engineering parameter technology and a reference voltage, if so, a main/standby switch-off instruction of the PCU is executed to complete the switch-off operation, in one embodiment of the invention, when the engineering parameter count of continuous 10 frames is not updated, namely the count is not increased, and/or the reference voltage 1 and the reference voltage 2 of the PCU of continuous 10 frames are not in the range of 2V-7V, the remote communication fault is judged, and the switch-off operation is executed according to the following steps:
firstly, sending instructions of 'main standby switch-on and switch-off of a lower computer of a power controller' and 'main standby switch-on and switch-off of a lower computer of an equalizer', wherein the time interval of the two instructions is 1 second, and after the two instructions are stabilized, the lower computer of the power controller is confirmed to be in the main standby switch-on state through remote measurement, and the lower computer of the equalizer is in the main standby switch-on state; and
next, judging the in-out shadow flag to determine the gear setting:
if the in-out response mark is '0', the satellite borne computer operates the storage battery pack according to the work mode after the image is shot: setting the PCU charging working condition as a resting state, setting the PCU charging working condition as an enabling state, and setting the threshold value of an A/B storage battery heater to be 1-5 ℃; the voltage of the A/B storage battery pack is set to be 5 grades; and the A/B storage battery current gear is set to be 3; and
if the in-out response mark is '1', the on-board computer operates the storage battery pack according to the working mode before the image is processed: setting the PCU charging working condition as full charging, setting the PCU charging working condition as enabling, and setting the threshold value of an A/B storage battery heater as 16-20 ℃; the voltage of the A/B storage battery pack is set to be 4 gears; and the A/B storage battery current gear is set to be 7;
in one embodiment of the invention, the charging voltage step, the current step and the threshold of the heater are set by the upper notes.
When the BCR power adjustment unit is allowed by the autonomous management enable, the fault diagnosis and recovery of the BCR power adjustment unit can be performed, as shown in fig. 3, error voltage and charging current of the storage battery a and the storage battery B are collected by the equalizer software, and then whether the BCR power adjustment unit has a fault or not is judged. Taking the storage battery A as an example to describe specific operation, when the error voltage of the storage battery A is more than or equal to 5V for 10 continuous frames, and the charging current of the storage battery A is less than or equal to 0.3A, judging that the storage battery A has a fault, if the BCRi and A power-up state is 'ON' (i is 1-3), sending an instruction BCRi, A power-off, sending BCRi +1 after 1S interval, powering up the A, then judging operation, and if the operation is normal, setting the 'BCR power regulation unit switching success state' as 'success', and setting the fault and recovery of the storage battery B to be consistent with the storage battery A.
When the BDR power conditioning unit is enabled for autonomous management, fault diagnosis and recovery of the BDR power conditioning unit can be performed, and as shown in fig. 3, whether the BDR power conditioning unit is faulty or not is determined by the voltage of the MEA (S3R) and the voltage of the MEA (BDR). When the voltage of MEA (S3R) and the voltage of MEA (BDR) of 10 continuous frames are less than or equal to 8.2V, the power-up states of 6 BDRs are 'ON', only the output current of 1 BDRix and jy is less than or equal to 3A, sending a command to enable the BDRix, A and BDRix and B to enable the fault BDR to be powered off, wherein ix refers to the serial number of the fault BDR, the value of 1 or 2 or 3 is obtained, the value of jy is A or B, and after the normal operation is judged, the 'BDR power adjusting unit switching success state 1' is set as 'switching success'; if all 4 BDR states are satisfied as "ON" and FLAGBDROFFAnd if the command is FALSE, the BDRix and jy 'fail again, and jy' in the BDRix and jy 'is not equal to jy, sending a command to enable the BDRix and jy to be powered on, simultaneously power off the BDRix and jy', setting the 'BDR power adjusting unit switching success state 2' as 'switching success' after judging normal operation, and setting FLAGBDROFFSetting to TRUE, otherwise, the whole satellite enters a safe mode; when the BDR power adjusting unit is switched successfully and the state 2 is switched successfully, new faults of BDRix and iy occur again,a whole satellite rotation safety mode; and if under the condition, a BDRix, jy 'output current is less than or equal to 3A, according to the current working state, the value of i is 2 or 3, the value of jy' is A or B, and the condition that 4 BDRs are maintained in an ON state is met, and FLAGBDROFFFor FALSE, if jy' ═ B, then send the order to make BDRix, B power-off, BDR1x, B power-on, after judging BDR1x, B power-on and BDRix, B power-off normal, and set BDR power regulating unit switching success state 2 as success, then FLAG will be usedBDROFFSet to TRUE; if jy ═ A or FLAGBDROFFIf TRUE, the whole satellite enters a safety mode, and when BDRix and iy fail again, the whole satellite enters the safety mode.
When the BDR accidental protection is enabled in the autonomous starting state, whether the BDR accidental triggering occurs or not can be judged through the output current of the BDR. As shown in FIG. 4, the current I is outputted when the BDR outputs for 10 continuous framesBDRix,iy(ix ═ 1,2, 3; jy ═ A, B) is less than or equal to-1A, and indicates that a BDR accidental trigger has occurred, if the current BDRix, jy power-up status is "ON", then send command to make BDRix, jy power-down, send command after interval 1S to make BDRix, jy power-up, if I is this IBDRix,iyIf the unlocking state is larger than-0.3A, the corresponding BDRix, jy unlocking state is set as 'execution success'; if the fault is caused after three times of continuous execution, the corresponding BDRix, jy unlocking state is set as 'execution abnormity', and meanwhile, the corresponding BDRix, jy fault flag bit is set as 'abnormity'.
When the BCR accidental protection is enabled in the autonomous starting state, whether BCR accidental triggering occurs or not can be judged through the voltage of the storage battery A, B. As shown in fig. 4, when the voltage of the battery pack A, B with 10 continuous frames is less than or equal to 36V, it indicates that BCR accidental triggering occurs, the battery is overcharged, if the power-up state of BCRix, jy (ix is 1,2, 3; jy is a, B) is "ON", an instruction is sent to cut off the power of BCRix, jy, the battery pack A, B overcharge protection reset is sent after the interval of 1S, BCRix, jy power up is sent after the interval of 1S, and the battery pack is continuously sent three times; if the overcharge protection status of the battery pack A, B is still "protected", the battery pack A, B overcharge protection prohibition is transmitted three times in succession.
As shown in fig. 5, when the power controller is enabled, the satellite enters the autonomous operation mode, the control center sends commands of "reset of the electricity meter of the battery pack a" and "reset of the electricity meter of the battery pack B", in this operation mode, the electricity meters do not participate in any operation, and at the same time, the PCU charging condition is set to full charge, A, B battery pack charging current is set to gear 07, A, B battery pack charging voltage is set to gear 04, and A, B battery pack heater threshold is set.
When the satellite power supply fails, the whole satellite enters a safe mode, the control center completes the setting of the power supply subsystem according to the image-advancing operation steps, and relevant loads are closed in real time, so that the load power of the whole satellite is reduced to the minimum. There are two conditions for entering the secure mode:
firstly, the autonomous entering safety mode state is enabled, and three remote measurements of the voltage of a main bus and a backup bus in an energy package and the voltage of the bus collected by a computer are always below 38V in one minute; and
second, the autonomous entry safe mode state is enabled and three of the telemetry quantities of the primary and backup PCU output currents, load current 1, and load current 2 in the process energy package are always greater than 70A in one minute.
As shown in fig. 6, when the telemetry of the enabling state of the storage battery in/out shadow autonomous operation is "enabled", the control center may determine the on-track maintenance working mode of the storage battery according to the whole star image/in/out shadow flag, and the storage battery in/out shadow autonomous management operation needs to set a corresponding autonomous image/in/out enabling/disabling instruction and has a corresponding enabling/disabling state, where:
when the image-in and image-out mark is changed from '0 → 1', the satellite can carry out image-in within 3 days, and the on-board computer can operate the storage battery pack according to the working mode before image-in, and the operation comprises the following steps:
the PCU charging working condition is set as full charging;
the threshold value of the A/B storage battery heater is set to be 16-20 ℃;
the voltage of the A/B storage battery pack is set to be 4 gears;
the A/B storage battery current gear is set to be 7; and
starting an A/B storage battery electricity meter; and
when the shadow entering and exiting mark is from 1 → 0, the satellite has developed the shadow, the energy software operates the storage battery pack according to the working mode after the shadow is developed, and the operation comprises the following steps:
the PCU charging condition is set as resting;
the PCU charging condition is set to enable;
the threshold value of the A/B storage battery heater is set to be 1-5 ℃;
the voltage of the A/B storage battery pack is set to be 5 grades;
the A/B storage battery current gear is set to be 3;
resetting the ammeter of the A/B storage battery pack;
in the embodiment of the invention, the charging voltage gear, the current gear and the threshold value of the heater are realized by upper notes.
In one embodiment of the invention, an auxiliary bus bar module is also provided. And A, B, C3 auxiliary bus modules work independently. In the normal state, A, B module is powered up at the same time in the backup state, while the C module is powered down in the cold standby state. When the auxiliary bus module A exceeds the normal range or the auxiliary bus module B exceeds the normal range, the auxiliary bus works abnormally, the auxiliary bus module is displayed to give a fault alarm, meanwhile, the control center sends an instruction to close the alarm auxiliary bus, and the auxiliary bus C is sent to be started after the interval of 1 s. In one embodiment of the present invention, the normal range refers to 4.30 ± 0.2V.
In order to verify the effectiveness of the in-orbit autonomous management system and the in-orbit autonomous management method, in-orbit application verification is carried out through a certain Beidou navigation satellite:
the ground software displays the fault state of the overcharge protection of the storage battery. At the moment, telemetry shows that the overcharge protection state of the storage battery of the satellite B is changed from initial '0/normal' to '1/protection', the power-up state of the power regulating unit BCR1B is changed from initial '0/power-up' to BCR1B '1/power-down', the power-up state of the BCR3B is switched from '1/power-down' to '0/power-up', the successful switching state of the power regulating unit is shown as BCR-B 'switching normal', and the related parameters of the BCR-A are all normal. The state changes of the relevant parameters before and after the satellite fault are shown in table 1.
Figure RE-GDA0002971428230000101
TABLE 1
And performing fault tree analysis aiming at the phenomenon, and finally determining the fault reason to be abnormal upset (single event effect) of the latch circuit for the overcharge protection of the B storage battery so as to trigger the protection of the B storage battery. As can be seen from fig. 3 and 4, in the PCU power conditioning unit failure autonomous management "enabled" state, when V is satisfiedBEA-BAnd more than or equal to 5V, the power-ON state of BCRi, B (i is 1 to 3) is 'ON', the input current of BCRi and B is less than or equal to 0.3A, when 10 continuous frames meet the condition, BCRi, B power-off, BCRi +1 and B power-ON are sent, and after the normal operation is judged, the switching success state of the BCR power regulating unit is set as 'switching success'. The relevant telemetry data before and after the fault is analyzed and compared as shown in fig. 7a-7b, fig. 8a-8c and fig. 9.
The B battery overcharge protection state and the BCR switching process are shown in figures 7a-7B and figures 8a-8 c. At some point after the fault, the satellite enters the earth shadow, and the storage battery begins to discharge. As can be seen from fig. 7a to 7B, fig. 8a to 8c and fig. 9, when the B battery is discharged to a voltage of 35.99V, the BCR3B battery overcharge protection is reset, and the B battery overcharge protection state is switched from "protection/1" to "normal/0"; the satellite comes out of the earth shadow and enters the sun region, the storage battery is discharged, the charging is started, the charging current of the BCR3B is normal, and the storage battery B is in a full-power state finally. The battery charge and discharge curves after a fault are shown in fig. 8a-8c and fig. 9. Therefore, when the in-orbit operation of the satellite is interfered by a space environment and is protected by overcharge, the in-orbit autonomous management system works normally in the in-orbit mode, and the correctness and the effectiveness of the in-orbit autonomous management system are verified.
While various embodiments of the present invention have been described above, it should be understood that they have been presented by way of example only, and not limitation. It will be apparent to persons skilled in the relevant art that various combinations, modifications, and changes can be made thereto without departing from the spirit and scope of the invention. Thus, the breadth and scope of the present invention disclosed herein should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the following claims and their equivalents.

Claims (6)

1. An in-orbit autonomous management system of a satellite energy system, comprising:
a power supply controller comprising:
a plurality of sets of lower computer modules working independently, working in a cold backup mode and configured to be capable of performing telemetry communication fault diagnosis and recovery;
the system comprises a plurality of sets of discharge regulating circuits which work independently, are connected to a storage battery, work in a hot backup mode and are configured to be capable of diagnosing and recovering the discharge fault of the storage battery and performing accidental triggering diagnosis and recovery of the discharge regulating circuits according to the output current of the discharge regulating circuits; and
the charging regulating circuit works in a cold backup mode and is configured to diagnose and recover charging faults of a storage battery family and perform accidental triggering diagnosis and recovery of the charging regulating circuit according to the voltage of the storage battery; and
a control center comprising:
the lower computer software is used for analyzing the telemetering data and distributing the indirect instruction;
the equalizer software is communicated with the power supply controller software through an RS422 bus and is used for acquiring and processing the telemetering parameters of the storage battery; and
and the satellite-borne computer is communicated with the power supply controller software through a 1553B bus and is used for acquiring parameters of the energy system and determining a recovery strategy when the energy system fails.
2. An on-orbit autonomous management method of a satellite energy system is characterized by comprising the following steps:
setting an autonomous operation enabling state, an autonomous management state of a charging and discharging power regulating unit and an autonomous starting state of charging and discharging accident protection as enabling;
collecting remote measuring parameters of a lower computer and a storage battery;
according to the comparison between the telemetering parameters and preset values, whether faults occur or not and the fault types are judged, and the method comprises the following steps:
if the engineering parameter count of the continuous 10 frames is not updated and/or the reference voltage of the power supply controller of the continuous 10 frames is not in a specified range, determining that the remote measurement communication fault occurs;
if the error voltage of the storage battery of 10 continuous frames is greater than or equal to a first preset threshold value and the charging current of the storage battery is less than or equal to a second preset threshold value, charging the storage battery to adjust faults;
if the voltage of the main error amplifying circuit-shunt regulating circuit and the main error amplifying circuit-discharge regulating circuit of 10 continuous frames is less than or equal to a third preset threshold value, and the output current of the discharge regulating circuit is less than a fourth preset threshold value, the storage battery discharge regulating fault is detected;
if the output current of the discharge regulating circuit for 10 continuous frames is less than or equal to a fifth preset threshold value, the discharge regulating circuit is triggered accidentally; and
if the voltage of the continuous 10 frames of storage battery pack is less than or equal to a sixth preset threshold, the charging regulation circuit is triggered accidentally; and
and executing a corresponding preset instruction to perform autonomous recovery according to the fault type.
3. The on-orbit autonomous management method according to claim 2, characterized in that said specified range is 2V-7V, and/or said first preset threshold is 5V, and/or said second preset threshold is 0.3A, and/or said third preset threshold is 8.2V, and/or said fourth preset threshold is 3A, and/or said fifth preset threshold is-1A, and/or said sixth preset threshold is 36V.
4. The on-orbit autonomous management method of claim 2, wherein the autonomous recovery of the telemetry communication failure comprises:
sending instructions of 'main standby connection and disconnection of a lower computer of the power controller' and 'main standby connection and disconnection of a lower computer of the equalizer', wherein the time interval of the two instructions is 1 second, and after the two instructions are stabilized, the lower computer of the power controller is confirmed to be in main standby connection and disconnection through remote measurement, and the lower computer of the equalizer is in main standby connection and disconnection; and
judging the in-out shadow mark to determine the gear setting:
if the in-out shadow flag is '0', the satellite borne computer operates the storage battery pack according to the working mode after the shadow is shot: setting the charging working condition of a power supply controller to be set aside, setting the charging working condition of the power supply controller to be enabled, and setting the threshold value of a storage battery heater to be 1-5 ℃; setting the voltage of the storage battery pack to 5 grades; and the current gear of the storage battery is set to be 3 gears; and
if the image-in and image-out mark is '1', the satellite borne computer operates the storage battery pack according to the working mode before image-in: setting the charging working condition of a power supply controller to be full charging, setting the charging working condition of the power supply controller to be enabled, and setting the threshold value of a storage battery heater to be 16-20 ℃; the voltage of the storage battery pack is set to 4 grades; and the battery current gear is set to 7.
5. The on-orbit autonomous management method of claim 2, wherein the battery discharge regulation failure, the battery charge regulation failure, the charge regulation circuit accidental triggering, and the autonomous recovery of the discharge regulation circuit accidental triggering are achieved by sending an instruction to power down and/or power back up the faulty circuit.
6. The on-orbit autonomous management method of claim 2, further comprising: when the satellite power supply fails, the satellite-borne computer closes the load single machine according to a certain time sequence, the satellite enters a safety mode, and a storage battery pack is set according to the image-feeding operation: setting the charging working condition of a power supply controller to be fully charged, and setting the threshold value of a storage battery heater to be 16-20 ℃; the voltage of the storage battery pack is set to 4 grades; the current gear of the storage battery is set to be 7; and activating the battery gauge.
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