CN113254076A - Method for automatically monitoring control of surface patrolling device of extraterrestrial celestial body - Google Patents
Method for automatically monitoring control of surface patrolling device of extraterrestrial celestial body Download PDFInfo
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- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
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Abstract
The invention discloses an automatic monitoring method for an operation process of an extraterrestrial celestial body surface patrolling device. The method comprises the steps of designing control instructions corresponding to all subsystems of the surface patrol device of the extraterrestrial celestial body, establishing a patrol device control instruction execution condition interpretation table, and generating a color-variable control flow monitoring card in the operation process of the patrol device according to the interpretation table, so as to realize automatic monitoring of the working process of the patrol device on the extraterrestrial celestial body surface. The invention realizes the automatic monitoring of a plurality of detection processes of the surface inspection device of the extraterrestrial celestial body; the real-time, automatic and accurate interpretation of the remote control instruction and the injected data execution condition of the surface patrolling device of the extraterrestrial celestial body is realized, and a reliable basis is provided for the formulation of a next control scheme; the real-time early warning of the working condition and the fault of the surface inspection device of the extraterrestrial celestial body is realized; the method greatly saves the labor cost, improves the working efficiency, and provides decision support for building a reliable platform for a deep space exploration task with high strength and long period in the future.
Description
Technical Field
The invention relates to the technical field of spacecraft control and automatic monitoring, in particular to a method for automatically monitoring control of a surface patrol device of an extraterrestrial spacecraft.
Technical Field
In the field of aerospace measurement and control in China, the traditional extraterrestrial celestial body surface patrolling device such as Chang 'e three-wheeled lunar rover and Chang' e four-wheeled lunar rover lacks an automatic monitoring means in the control process and completely depends on manual work. When the ground control center sends an instruction, the central control personnel need to find corresponding downlink telemetering parameters to interpret the execution condition of the instruction, and further determine whether to execute the next instruction plan. The whole inspection process of the inspection tour device is put in eye, a series of problems of multiple operation steps, short operation intervals, complex related telemetering parameters, complex state monitoring and the like exist, operation personnel need to complete state interpretation of the telemetering parameters related to a plurality of instructions in a short time, then can determine whether to perform the next operation, the time is short, the consumed time is long, errors are easy to occur, and once the decision is mistaken, the influence is possibly disastrous. In the task of Chang E' four, although the operator concentrates all the relevant parameters of the instructions on one page to perform state interpretation, for example, the state monitoring pages in the process of waking up the patrol device are shown in FIGS. 2, 3 and 4, the state interpretation is only a semi-automatic monitoring means, and the operator still needs to stare at the page and interpret the page in time. In view of the long execution time of the deep space exploration task, the physical strength, endurance and vigor of operators are greatly tested. Therefore, there is a need to design a method for automatically monitoring the operation process of a surface patrolling device outside the ground, so as to improve the working efficiency and meet the requirements of high-intensity and long-period deep space exploration tasks such as mars exploration in the future.
Disclosure of Invention
Technical problem to be solved by the invention
The invention provides an automatic monitoring method for the control process of an extraterrestrial celestial surface patroller, which realizes the automatic monitoring of the whole control process of the extraterrestrial celestial surface patroller, and achieves the purposes of greatly saving labor cost and improving the task state judgment accuracy and the working efficiency.
In order to solve the technical problems, the complete technical scheme of the invention is as follows:
an automatic monitoring method for the control process of an extraterrestrial celestial body surface patroller comprises the following steps:
step one, establishing a dynamic interpretation table of each group of control command execution conditions of the inspection tour device;
designing operation steps of each stage of the inspection device according to the flying control implementation flow of the inspection device, designing an operation sequence number, an operation name, an instruction code number, an instruction name, an instruction execution time and a judgment criterion of each step of operation in each stage of operation steps according to the content of a dynamic judgment table of each group of operation command execution conditions of the inspection device established in the step one, forming a dynamic judgment table of the instruction execution conditions of the operation in the stage, synthesizing the dynamic judgment table of the instruction execution conditions of the operation in each stage, and establishing an instruction execution condition judgment table of each stage of the inspection device;
step three, forming a color-variable control flow monitoring card for flight control personnel in a visual mode by using the instruction execution condition interpretation table of each stage of the patrol device established in the step two;
and step four, reflecting the execution condition of each step of operation by using the color change of the control flow monitoring card.
Further, the first step further comprises: according to the sub-systems of the surface inspection device of the extraterrestrial celestial body, the control instructions corresponding to the sub-systems are designed, the operation name, the instruction code number, the instruction name, the execution time of the control instructions and the judgment criteria of each control instruction are determined, and a dynamic judgment table of the execution condition of each group of control instructions of the inspection device is established.
Further, the control command includes all instructions and injection data required by each step of control of the patrol instrument, and the command may be one instruction or one injection data, or a group of instructions or a group of injection data.
Further, in the second step, the control step includes the steps of tourniquet sleep, waking up, sensing, moving, entering and exiting.
Further, in the third step, the method for establishing the color-changeable control flow monitoring card is as follows: taking the instruction execution condition interpretation table of each stage of the patrol device as a total database, taking the instruction execution condition dynamic interpretation table of each flight control stage as a sub-database, the total database reads each instruction sent by the ground station and compares the instruction with the sub-database, when the time exceeds the instruction execution time in the instruction execution condition interpretation table of each stage of the patrol device, if the telemetering corresponding to the command in the command execution condition judgment table of each stage of the patroller reaches the expected change, the color C corresponding to the instruction in the instruction execution case interpretation table of each stage of the patrol machine will be changed into the color a, otherwise, the color C is changed into a color B, the colors C, A and B are different, the color C indicates that the operation is not executed, the color A indicates that the instruction is normally executed, and the color B indicates that the instruction is abnormally executed.
Further, the fourth step further comprises: if the color C in the operation flow monitoring card indicates that the operation is not executed, if the color C in the operation flow monitoring card is changed into the color A to indicate that the instruction is normally executed, the next step of operation can be carried out, if the color C in the operation flow monitoring card is changed into the color B to indicate that the instruction is abnormally executed, the whole judging process needs to be immediately suspended, after the fault removing instruction is executed, the judging flow is restarted, and the next step of operation is started.
Furthermore, the extraterrestrial celestial body surface patrolling device is a lunar rover or a Mars rover.
The invention has the following beneficial effects:
1. the integrated and automatic monitoring of the detection processes of awakening, sensing, moving, sleeping and the like of the surface patrolling device of the extraterrestrial celestial body is realized.
2. The real-time, automatic and accurate interpretation of the remote control instruction and the injected data execution condition of the surface patrolling device of the extraterrestrial celestial body is realized, and a reliable basis is provided for the formulation of the next control scheme.
3. The real-time early warning of the working condition and the fault of the surface inspection device of the extraterrestrial celestial body is realized.
4. The method can greatly save labor cost, improve working efficiency, and provide decision support for building a reliable platform for future high-strength long-period deep space exploration tasks.
Drawings
FIG. 1: the patrol instrument dormancy awakens the flow monitoring card.
FIG. 2: the rover dormancy wakeup monitors display page 1.
FIG. 3: the rover dormancy wakeup monitors display page 2.
FIG. 4: the rover dormancy wakeup monitors the display page 3.
FIG. 5: a monitoring flow chart.
Detailed Description
The present invention will be described in further detail with reference to the drawings of fig. 1 to 5, which take the form of a goddess-e-four patrolling device as an example, and it should be noted that the following detailed description is only intended to illustrate the present invention and should not be construed as limiting the scope of the present invention, and that those skilled in the art can make modifications and adjustments to the present invention without departing from the spirit and scope of the present invention.
The invention provides a method for controlling and automatically monitoring an extraterrestrial celestial body surface patroller, which comprises the following steps of:
the method comprises the following steps: establishing a dynamic interpretation table of the execution condition of each group of control commands of the inspection tour device;
according to the surface patrolling device subsystem of the extraterrestrial celestial body, corresponding control instructions of the subsystem are designed, the operation name, the instruction code number, the instruction name, the execution time of the control instructions and a judgment criterion of each control instruction are determined, and a dynamic interpretation table of the execution condition of each group of control instructions of the patrolling device is established.
For example, through researching the mechanism principle of the work of each subsystem of Chang' e four patrol device power supply, measurement and control, comprehensive electronics, structural mechanisms, movement, effective load and the like, the change condition of the downlink telemetering parameters after each instruction is sent is determined, and then the dynamic interpretation table of the execution conditions of all the control commands is sorted out, which is shown in table 1.
TABLE 1 Whole control command execution situation interpretation table (instruction ratio interpretation condition configuration table)
The specific process takes the startup of the patrol device moon-measuring radar as an example: when the ground sends a lunar ranging radar starting command XK009, the flight control personnel judges through the telemetering parameter ZTMN001 (the power state of the lunar ranging radar) uploaded and downloaded by the patrol device. When ZTMN001 ═ 5V, the ground flight control personnel can determine that XK009 has performed successfully. If ZTMN001 remains 0 within 30 seconds of signaling, XK009 has not been successfully executed.
Step two: according to the flight control implementation flow of the patrol device, key steps of operation and control of the patrol device at the current stage are designed, such as awakening and moving, according to the contents of each group of operation and control command execution condition dynamic interpretation table of the patrol device established in the step one, and an operation sequence number, an operation name, an instruction code, an instruction name, an instruction execution time and a judgment criterion related to each step of operation in each stage of operation and control step are designed, so that a command execution condition dynamic interpretation table for the operation and control at the current stage is formed, and the table is shown in a table 2. And integrating the instruction execution condition dynamic interpretation tables controlled by each stage, and establishing the instruction execution condition interpretation tables of each stage of the patrol instrument.
TABLE 2 interpretation table for instruction execution condition of each stage of patrol device
Step three: and D, forming a color-variable control flow monitoring card for flight control personnel in a visual mode by using the instruction execution condition interpretation table of each stage of the patrol instrument established in the step two.
The specific method comprises the following steps: taking the instruction execution condition interpretation table of each stage of the patrol instrument as a total database, taking the instruction execution condition dynamic interpretation table of each flight control stage as a sub-database, reading each instruction sent by the ground survey station by the total database, comparing the instruction with the sub-database, triggering telemetering judgment when the instruction execution condition dynamic interpretation table is consistent, and if the time exceeds the instruction execution time in the instruction execution condition interpretation table of each stage of the patrol instrument, if telemetering corresponding to the instruction in the instruction execution condition interpretation table of each stage of the patrol instrument reaches the expected change, the color becomes dark gray, otherwise, the color is black. See fig. 1-4.
Step four: and monitoring the change of the card color by using the control flow to reflect the execution condition of each step of operation. Starting from the first monitoring card in fig. 1, the first monitoring card is grayed, and the grayed monitoring card indicates that the operation is normally executed, the next operation can be performed, if the monitoring card is blacked, the operation is not normally executed, the whole judgment process needs to be immediately suspended, the judgment process is restarted after the fault removal instruction is executed, and the next operation is started, as shown in fig. 5. When all the monitor cards in fig. 1 are sequentially grayed out, it indicates that the whole operation of the patrol instrument at this stage is normally finished.
The main implementation flow takes the patrol device awakening process as an example: (both the instruction code and the remote parameter code are virtual)
(1) A world communication link is established. Firstly, a command of 'setting the forward state (XK001) of a modulator b of the moon UXB' is sent from the ground, and then the state of the telemetry parameter is monitored according to an interpretation rule after a command interpretation period is reached. The interpretation criteria are "the subcarrier switch of the modulator b of the moon UXB is in the closed state (ZMC001 is 1), the center frequency point of the modulator b of the moon UXB is a certain value (ZMC002 is 3), the current scanning frequency of the modulator b of the moon UXB is 1 time (ZMC003 is 4), the current frequency offset of the sweep frequency of the modulator b of the moon UXB is-180 to 180(-180 ZMC004 is 180, and 180)", a monitoring card labeled "1" is generated according to the above conditions, and when the monitoring card "1" is changed from light gray to dark gray, the instruction is indicated to be executed correctly. And if the color of the monitoring card is not changed or becomes black, the monitoring card shows that the instruction is abnormal in execution and gives a warning to remind an operator to find out the reason and remove the fault in time, and meanwhile, the step 1 is suspended for judgment in the following steps. The following steps are consistent with the monitoring and interpretation method of step 1.
(2) And opening the data transmission door.
(3) And adjusting the position of the solar sailboard.
(4) The light wake-up is disabled.
(5) The central computer cutter enables.
(6) The motor of the moving and mechanism is powered off.
(7) And setting the awakening state.
(8) And setting a mast and a yaw.
(9) The communication link is switched.
(10) The inertial measurement unit master is powered up.
(11) The patrol device is unified.
(12) The GNC algorithm is enabled.
(13) And injecting the longitude and latitude of the patrol instrument.
(14) The sun sensor is energized.
(15) And correcting the posture of the patrol device.
(16) The travel mechanism motor load current diagnostic is enabled.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.
Claims (7)
1. An automatic monitoring method for the operation process of an extraterrestrial celestial body surface patrolling device is characterized in that: the implementation method comprises the following steps:
step one, establishing a dynamic interpretation table of each group of control command execution conditions of the inspection tour device;
designing operation steps of each stage of the inspection device according to the flying control implementation flow of the inspection device, designing an operation sequence number, an operation name, an instruction code number, an instruction name, an instruction execution time and a judgment criterion of each step of operation in each stage of operation steps according to the content of a dynamic judgment table of each group of operation command execution conditions of the inspection device established in the step one, forming a dynamic judgment table of the instruction execution conditions of the operation in the stage, synthesizing the dynamic judgment table of the instruction execution conditions of the operation in each stage, and establishing an instruction execution condition judgment table of each stage of the inspection device;
step three, forming a color-variable control flow monitoring card for flight control personnel in a visual mode by using the instruction execution condition interpretation table of each stage of the patrol device established in the step two;
and step four, reflecting the execution condition of each step of operation by using the color change of the control flow monitoring card.
2. The method for automated monitoring of a manipulation process of an extraterrestrial celestial surface rover according to claim 1, wherein: the first step further comprises the following steps: according to the sub-systems of the surface inspection device of the extraterrestrial celestial body, the control instructions corresponding to the sub-systems are designed, the operation name, the instruction code number, the instruction name, the execution time of the control instructions and the judgment criteria of each control instruction are determined, and a dynamic judgment table of the execution condition of each group of control instructions of the inspection device is established.
3. The method for automated monitoring of a manipulation process of an extraterrestrial celestial surface rover according to claim 2, wherein: the control command comprises all instructions and injection data required by the patrol instrument for controlling each step, and can be one instruction or one injection data or a group of instructions or a group of injection data.
4. The method for automated monitoring of a manipulation process of an extraterrestrial celestial surface rover according to claim 2, wherein: in the second step, the control step comprises the steps of the dormancy, the awakening, the perception, the movement, the entering and the leaving of the patrol device.
5. The method for automated monitoring of a manipulation process of an extraterrestrial celestial surface rover according to claim 4, wherein: in the third step, the method for establishing the color-variable control process monitoring card is as follows: taking the instruction execution condition interpretation table of each stage of the patrol device as a total database, taking the instruction execution condition dynamic interpretation table of each flight control stage as a sub-database, the total database reads each instruction sent by the ground station and compares the instruction with the sub-database, when the time exceeds the instruction execution time in the instruction execution condition interpretation table of each stage of the patrol device, if the telemetering corresponding to the command in the command execution condition judgment table of each stage of the patroller reaches the expected change, the color C corresponding to the instruction in the instruction execution case interpretation table of each stage of the patrol machine will be changed into the color a, otherwise, the color C is changed into a color B, the colors C, A and B are different, the color C indicates that the operation is not executed, the color A indicates that the instruction is normally executed, and the color B indicates that the instruction is abnormally executed.
6. The method for automated monitoring of a manipulation process of an extraterrestrial celestial surface rover according to claim 5, wherein: the fourth step further comprises: if the color C in the operation flow monitoring card indicates that the operation is not executed, if the color C in the operation flow monitoring card is changed into the color A to indicate that the instruction is normally executed, the next step of operation can be carried out, if the color C in the operation flow monitoring card is changed into the color B to indicate that the instruction is abnormally executed, the whole judging process needs to be immediately suspended, after the fault removing instruction is executed, the judging flow is restarted, and the next step of operation is started.
7. The method for automated monitoring of a manipulation process of an extraterrestrial celestial surface rover according to any one of claims 1 to 6, wherein: the surface patrol device of the extraterrestrial celestial body is a lunar vehicle or a mars vehicle.
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