CN113093690B - Detection apparatus for attitude control integrated controller - Google Patents
Detection apparatus for attitude control integrated controller Download PDFInfo
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- CN113093690B CN113093690B CN202110244402.6A CN202110244402A CN113093690B CN 113093690 B CN113093690 B CN 113093690B CN 202110244402 A CN202110244402 A CN 202110244402A CN 113093690 B CN113093690 B CN 113093690B
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
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Abstract
The invention relates to a detection device of an attitude control integrated controller, which comprises a bottom plate, an upper computer, an attitude signal generating unit, an attitude adjusting action unit and a power supply power detection unit, wherein the attitude signal generating unit and the attitude adjusting action unit are respectively provided with a first communication cable, and the attitude signal generating unit is provided with a second communication cable; the invention has the advantages that: the attitude signal generation unit is simultaneously received through the upper computer, the attitude adjustment action unit, the power supply power measurement unit, the uploaded information of the tested attitude control integrated controller, the input of an external attitude signal of the integrated controller is met, the connection object of signal output of the integrated controller is connected, the requirements of an interface and a cable for information transmission in the process are met, the requirements of the demand on a working power supply of the integrated controller and the measurement of the power consumption of the integrated controller are met, the requirements of test equipment are reduced, the production equipment cost is greatly reduced, and the detection coverage is wider.
Description
Technical Field
The invention relates to a detection device of an attitude control integrated controller.
Background
The precise attitude measurement and control system for the microsatellite mainly comprises: the system comprises a control computer, a reaction flywheel (reaction moment), a magnetic torquer (magnetic control moment), a magnetometer (magnetic field measurement), an inertia component (MEMS gyroscope and high-precision fiber-optic gyroscope, attitude angle and angular velocity measurement), a star sensor (earth vector measurement), a sun sensor (sun vector measurement) and a GPS/BD receiver (orbit measurement). The above systems typically employ conventional decentralized control strategies: the integrated controller integrates the input, output and communication of the components into the integrated controller, if the function test of the integrated controller needs to access all external sensors, controlled components and communication lines into the system, the test preparation process not only has complex and tedious wiring, but also needs a large amount of expensive peripheral devices and device installation and arrangement preparation work; a large number of peripheral devices also cause the problem of difficulty in coordination and controllability of the test process, and other indexes of the integrated controller, such as response time, interference resistance, fault recovery, system power consumption and the like, still need to be tested.
Disclosure of Invention
The invention aims to provide a detection device of an attitude control integrated controller, which can effectively solve the problems of coordination and controllability of the attitude control integrated controller in the test process.
In order to solve the technical problems, the invention is realized by the following technical scheme: the utility model provides a detection apparatus of attitude control integrated controller, includes bottom plate, host computer, attitude signal generating unit, attitude adjustment action unit and power detection unit all set up on the bottom plate, the host computer is connected with attitude signal generating unit, attitude adjustment action unit and power detection unit communication respectively, be equipped with on the bottom plate by the fixed structure that attitude control integrated controller is fixed, all be equipped with on attitude signal generating unit and the attitude adjustment action unit and be surveyed the first communication cable that attitude control integrated controller links to each other, be equipped with the second communication cable that links to each other with power detection unit on the attitude signal generating unit, fixed structure links to each other with the host computer.
Preferably, the attitude signal generating unit comprises one or two or at least two of a star sensor signal generating unit, a digital sun sensor signal generating unit, an optical fiber gyroscope assembly signal generating unit and a magnetometer signal generating unit, and the star sensor signal generating unit, the digital sun sensor signal generating unit, the optical fiber gyroscope assembly signal generating unit and the magnetometer signal generating unit are all provided with a first connecting terminal connected with a first communication cable and a first communication interface connected with an upper computer.
Preferably, the attitude signal generating unit further comprises a workbench, and the star sensor signal generating unit, the digital sun sensor signal generating unit, the optical fiber gyroscope assembly signal generating unit and the magnetometer signal generating unit are all arranged on the workbench, so that the workbench is arranged on the bottom plate.
Preferably, the workbench is provided with an attitude signal simulation unit, the attitude signal simulation unit is in communication connection with the upper computer, and the attitude signal simulation unit is provided with a third communication cable connected with the measured attitude control integrated controller.
Preferably, the fixed structure is a fixed plate arranged on the bottom plate, and the fixed plate is provided with a second wiring terminal connected with the first communication cable and a second communication interface connected with the upper computer.
Preferably, the upper computer is provided with a third communication interface for external communication.
Preferably, the third communication interface comprises an RS422 communication interface or/and a J-TUG communication interface.
Preferably, the posture adjustment action unit comprises a direct current motor and a flywheel arranged on the direct current motor, the direct current motor is provided with a third wiring terminal connected with a second communication cable, the flywheel is provided with a flywheel speed measuring device, and the flywheel speed measuring device is provided with a fourth communication interface connected with an upper computer.
In conclusion, the invention has the advantages that: the attitude signal generating unit inputs signals to the tested attitude control integrated controller, the attitude adjusting action unit is connected with an output channel of the tested attitude control integrated controller, the power supply power detection unit realizes the setting of the output signals of the tested attitude control integrated controller, the power supply power measurement unit measures the output signals, the upper computer sends instructions to the attitude signal generating unit, the attitude adjusting action unit, the power supply power measurement unit and the tested attitude control integrated controller and simultaneously receives the uploading information of the attitude signal generating unit, the attitude adjusting action unit, the power supply power measurement unit and the tested attitude control integrated controller, and the connection objects of the external attitude signal input of the integrated controller and the signal output of the integrated controller are met, and the requirements of the interface and the cable of information transmission in the process, and the requirements of the working power supply of the integrated controller and the measurement of the power consumption of the integrated controller are met, the requirements of testing equipment are reduced, the production equipment cost is greatly reduced, the detection coverage is wider, the round-trip time delay of information transmission of an upper computer is deducted by the content of transmitted and uploaded information and recorded time information, and the quantitative evaluation of the correctness, the response capability and the self-recovery capability of the simulated fault of the function execution of the integrated controller can be realized by comparing with the preset evaluation index of the controller, and secondly, the unified fixed installation of the upper computer, the attitude signal generating unit, the attitude adjusting action unit and the power supply power detection unit can be realized by the arrangement of the bottom plate, the installation process of the whole detection device is simplified, and the wiring of the first communication cable and the second communication cable is convenient, finally, the fixed structure is convenient to install and fix the integrated controller for controlling the measured attitude, and the fixed structure with different structures can be arranged according to the integrated controller for controlling the measured attitude with different models, so that different installation requirements are met.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic structural diagram of a detection device of an attitude control integrated controller according to the present invention;
FIG. 2 is a schematic structural diagram of an attitude signal generating unit according to the present invention;
fig. 3 is a schematic structural diagram of an attitude adjustment operation unit according to the present invention.
Reference numerals are as follows:
the integrated controller comprises a base plate 1, a fixed structure 11, a second connecting terminal 12, a second communication interface 13, an upper computer 2, a third communication interface 21, a posture signal generating unit 3, a star sensor signal generating unit 31, a digital sun sensor signal generating unit 32, an optical fiber gyroscope assembly signal generating unit 33, a magnetometer signal generating unit 34, a first connecting terminal 35, a first communication interface 36, a workbench 37, a posture signal simulating unit 38, a third communication cable 39, a posture adjusting action unit 4, a direct current motor 41, a flywheel 42, a third connecting terminal 43, a flywheel speed measuring device 44, a fourth communication interface 45, a power supply power detecting unit 5, a first communication cable 6, a second communication cable 7 and an attitude control integrated controller 8.
Detailed Description
As shown in fig. 1, 2 and 3, a detection device of an attitude control integrated controller includes a bottom plate 1, an upper computer 2, an attitude signal generation unit 3, an attitude adjustment action unit 4 and a power supply detection unit 5, the upper computer 2, the attitude signal generation unit 3, the attitude adjustment action unit 4 and the power supply detection unit 5 are all arranged on the bottom plate 1, the upper computer 2 is respectively in communication connection with the attitude signal generation unit 3, the attitude adjustment action unit 4 and the power supply detection unit 5, a fixed structure 11 fixed by a measured attitude control integrated controller 8 is arranged on the bottom plate 1, first communication cables 6 connected with the measured attitude control integrated controller are arranged on the attitude signal generation unit 3 and the attitude adjustment action unit 4, a second communication cable 7 connected with the power supply detection unit 5 is arranged on the attitude signal generation unit 3, and the fixed structure 11 is connected with the upper computer 2.
The attitude signal generating unit 3 inputs signals to the tested attitude control integrated controller, the attitude adjusting action unit 4 is connected with an output channel of the tested attitude control integrated controller, the power supply power detection unit 5 realizes the setting of the output signals of the tested attitude control integrated controller, the power supply power measurement unit measures the output signals, the upper computer 2 sends instructions to the attitude signal generating unit 3, the attitude adjusting action unit 4, the power supply power measurement unit and the tested attitude control integrated controller and simultaneously receives the uploading information of the attitude signal generating unit 3, the attitude adjusting action unit 4, the power supply power measurement unit and the tested attitude control integrated controller, and the connection object of the external attitude signal input of the integrated controller and the signal output of the integrated controller is met, and the requirements of an interface and a cable for information transmission in the process, and the requirements of the demand of a working power supply of the integrated controller and the measurement of the power consumption of the integrated controller are met, the requirement of test equipment is reduced, the cost of production equipment is greatly reduced, the detection coverage is wider, the round-trip delay of information transmission of the upper computer 2 is deducted by sending and uploading information content and recorded time information, and the quantitative evaluation of the correctness, the response capability and the self-recovery capability of the simulated fault of the function execution of the control of the integrated controller can be realized by comparing with the preset evaluation index of the controller, secondly, the unified fixed installation of the upper computer 2, the attitude signal generating unit 3, the attitude adjusting action unit 4 and the power supply power detection unit 5 can be realized by the arrangement of the bottom plate 1, the installation process of the whole detection device is simplified, and the wiring of the first communication cable 6 and the second communication cable 7 is convenient, finally, the fixed structure 11 is convenient to install and fix the measured attitude control integrated controller, and the fixed structures 11 with different structures can be arranged according to the measured attitude control integrated controllers with different models, so that different installation requirements are met.
The attitude signal generating unit 3 comprises one or two or at least two of a star sensor signal generating unit 31, a digital sun sensor signal generating unit 32, an optical fiber gyroscope assembly signal generating unit 33 and a magnetometer signal generating unit 34, the star sensor signal generating unit 31, the digital sun sensor signal generating unit 32, the optical fiber gyroscope assembly signal generating unit 33 and the magnetometer signal generating unit 34 are all provided with a first connecting terminal 35 connected with the first communication cable 6 and a first communication interface 36 connected with the upper computer 2, the first connecting terminal 35 can ensure the connection of the first communication cable 6, and the star sensor signal generating unit 31, the digital sun sensor signal generating unit 32, the optical fiber gyroscope assembly signal generating unit 33 and the magnetometer signal generating unit 34 can work independently, satisfy different detection demands, first communication interface 36 makes things convenient for gesture signal generating unit 3 and host computer 2 communication, gesture signal generating unit 3 still includes workstation 37, star sensor signal generating unit 31, digital sun sensor signal generating unit 32, optical fiber gyroscope subassembly signal generating unit 33 and magnetometer signal generating unit 34 all set up on workstation 37, so workstation 37 sets up on bottom plate 1, and the position motion through adjusting workstation 37 in the in-service use makes star sensor signal generating unit 31, digital sun sensor signal generating unit 32, optical fiber gyroscope subassembly signal generating unit 33 and magnetometer signal generating unit 34's input position signal change, satisfies the requirement of test regulation, star sensor signal generating unit 31, digital sun sensor signal generating unit 32 in this embodiment, the communication of host computer 2, the gesture signal generating unit 3 still includes workstation 37, so workstation 37 sets up on the bottom plate 1, and the position motion through adjusting workstation 37 in the actual use makes, the optical fiber gyroscope assembly signal generating unit 33 and the magnetometer signal generating unit 34 both adopt sensors.
The attitude signal simulation unit 38 is arranged on the workbench 37, the attitude signal simulation unit 38 is in communication connection with the upper computer 2, a third communication cable 39 connected with the measured attitude control integrated controller is arranged on the attitude signal simulation unit 38, when the star sensor signal generation unit 31, the digital sun sensor signal generation unit 32, the optical fiber gyroscope component signal generation unit 33 and the magnetometer signal generation unit 34 have faults, the attitude signal simulation unit 38 can send simulated virtual signals to the measured attitude control integrated controller, and can also send simulated virtual signals and real signals generated by the attitude signal generation unit 3 to the measured attitude control integrated controller at the same time, and the attitude signal generation unit 3 simulates signals of different types of sensors and signal change processes by modifying software, so that the requirements of the controller on signal sources can be met, the dependence of the controller on input objects is reduced, and different detection requirements are met.
Fixed knot constructs 11 for setting up the fixed plate on bottom plate 1, be equipped with the second binding post 12 that links to each other with first communication cable 6 on the fixed plate, and the second communication interface 13 that links to each other with host computer 2, the fixed plate can realize being surveyed attitude control integrated control ware's quick fixation, fixed plate accessible screw detachable in this embodiment installs on bottom plate 1, second binding post 12's setting, can realize that the quick installation of first communication cable 6 is fixed, and make things convenient for the dismantlement of first communication cable 6, the setting of second communication interface 13, can realize being surveyed attitude control integrated control ware and host computer 2's communication, secondly, set up second binding post 12 and second communication interface 13 on the fixed plate, can reduce the damage of second binding post 12 and second communication interface 13.
The upper computer 2 is provided with a third communication interface 21 for external communication, which can realize the external and upper communication of signals of the upper computer 2, the third communication interface 21 comprises an RS422 communication interface or/and a J-TUG communication interface, can realize the verification of the chip-level monitoring function of the integrated controller, only needs to read an original bit file stored in the PROM, carries out refreshing operation on the FPGA after reconstruction, achieves the purpose of reconstructing the original bit file by modifying an instruction of configuration attributes and the initial address, the number and the content of a configuration frame in the bit file, reads the configuration data of the SRAM type FPGA from the nonvolatile large-capacity memory through a software protocol, and judges whether the controller carries out reconfiguration operation once an error is found.
Attitude adjustment action unit 4 includes direct current motor 41 and sets up the flywheel 42 on direct current motor 41, be equipped with the third binding post 43 that links to each other with second communication cable 7 on the direct current motor 41, be equipped with flywheel speed sensor 44 on the flywheel 42, be equipped with the fourth communication interface 45 that links to each other with host computer 2 on the flywheel speed sensor 44, realize fixing of second communication cable 7 through third binding post 43, can realize being surveyed attitude control integrated controller output signal's given, the setting of fourth communication interface 45 can send the rotational speed information that flywheel speed sensor 44 surveyed to host computer 2, realizes the upload of rotational speed information, the rotational speed information in this embodiment also can send to being surveyed attitude control integrated controller, also can send simultaneously to host computer 2 and be surveyed attitude control integrated controller on.
The above description is only an embodiment of the present invention, but the technical features of the present invention are not limited thereto, and any changes or modifications within the technical field of the present invention by those skilled in the art are covered by the present invention.
Claims (3)
1. The utility model provides a detection device of gesture control integration controller which characterized in that: the device comprises a bottom plate, an upper computer, an attitude signal generating unit, an attitude adjusting action unit and a power supply power detection unit, wherein the upper computer, the attitude signal generating unit, the attitude adjusting action unit and the power supply power detection unit are all arranged on the bottom plate;
the attitude signal generating unit comprises one or two or at least two of a star sensor signal generating unit, a digital sun sensor signal generating unit, an optical fiber gyroscope assembly signal generating unit and a magnetometer signal generating unit, and the star sensor signal generating unit, the digital sun sensor signal generating unit, the optical fiber gyroscope assembly signal generating unit and the magnetometer signal generating unit are respectively provided with a first connecting terminal connected with a first communication cable and a first communication interface connected with an upper computer;
the fixing structure is a fixing plate arranged on the bottom plate, and a second wiring terminal connected with the first communication cable and a second communication interface connected with the upper computer are arranged on the fixing plate;
the posture adjusting action unit comprises a direct current motor and a flywheel arranged on the direct current motor, a third wiring terminal connected with a second communication cable is arranged on the direct current motor, a flywheel speed measuring device is arranged on the flywheel, and a fourth communication interface connected with an upper computer is arranged on the flywheel speed measuring device;
the star sensor signal generating unit, the digital sun sensor signal generating unit, the optical fiber gyroscope assembly signal generating unit and the magnetometer signal generating unit are all arranged on the workbench, so that the workbench is arranged on the bottom plate;
the attitude signal simulation device is characterized in that an attitude signal simulation unit is arranged on the workbench and is in communication connection with an upper computer, and a third communication cable connected with the measured attitude control integrated controller is arranged on the attitude signal simulation unit.
2. The detection device of an attitude control integrated controller according to claim 1, characterized in that: and the upper computer is provided with a third communication interface for external communication.
3. The detection device of an attitude control integrated controller according to claim 2, wherein: the third communication interface comprises an RS422 communication interface or/and a J-TUG communication interface.
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| US8160577B2 (en) * | 2005-08-19 | 2012-04-17 | Global Locate, Inc. | Method and apparatus for providing intelligent deactivation of electronic devices in aircraft |
| CN104777757A (en) * | 2014-01-15 | 2015-07-15 | 深圳航天东方红海特卫星有限公司 | Closed-loop simulation testing system and method for ground attitude control of microsatellites |
| CN104102216B (en) * | 2014-05-26 | 2017-01-04 | 航天东方红卫星有限公司 | The moonlet Control System Imitation of a kind of Kernel-based methods and test integrated system and method |
| CN106017355A (en) * | 2016-03-22 | 2016-10-12 | 武汉武大卓越科技有限责任公司 | Three-dimensional measuring sensor based on line structured light |
| CN206451035U (en) * | 2016-12-15 | 2017-08-29 | 中国空间技术研究院 | A kind of satellite control system ground checkout equipment automates combined adjuster |
| CN106647335A (en) * | 2017-01-13 | 2017-05-10 | 王洋 | Digital satellite attitude and orbit control algorithm ground simulation verification system |
| CN106919179A (en) * | 2017-04-28 | 2017-07-04 | 东华理工大学 | A kind of four-rotor aircraft control system and control method |
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