CN113778118B - System impact-resistant method suitable for Mars landing task - Google Patents
System impact-resistant method suitable for Mars landing task Download PDFInfo
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- CN113778118B CN113778118B CN202111094537.5A CN202111094537A CN113778118B CN 113778118 B CN113778118 B CN 113778118B CN 202111094537 A CN202111094537 A CN 202111094537A CN 113778118 B CN113778118 B CN 113778118B
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- 238000000034 method Methods 0.000 title claims abstract description 50
- 230000000977 initiatory effect Effects 0.000 claims abstract description 48
- 238000009966 trimming Methods 0.000 claims abstract description 47
- 239000002360 explosive Substances 0.000 claims abstract description 35
- 238000003745 diagnosis Methods 0.000 claims abstract description 24
- 238000012545 processing Methods 0.000 claims abstract description 17
- 238000005474 detonation Methods 0.000 claims abstract description 12
- 230000035939 shock Effects 0.000 claims abstract 5
- 230000008569 process Effects 0.000 claims description 26
- 230000009471 action Effects 0.000 claims description 7
- 238000001914 filtration Methods 0.000 claims description 6
- 238000013461 design Methods 0.000 description 6
- 238000010304 firing Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The system shock resistance method suitable for Mars landing task includes relay shock resistance, trimming wing state autonomous diagnosis and treatment, and ground contact switch state autonomous diagnosis and treatment; continuously powering up an electromagnetic coil in the relay from before detonation to after detonation of the initiating explosive device so as to enable the relay to work normally; autonomous trim wing status diagnostics and processing includes: before initiating the initiating explosive device, if a certain road balancing span opening in-place signal is collected to be effective, the road switch is considered to be faulty, and the road signal is not used later; after initiating the initiating explosive device, if one or more trimming wing opening in-place signals are collected to be effective, the trimming wing opening is considered to be in place, otherwise, the trimming wing is considered not to be unfolded; the autonomous diagnosis and processing of the state of the grounding switch comprise the following steps: before touchdown, if a certain road touchdown switch is in a touchdown state, the state of the road touchdown switch is considered to be faulty, and the road signal is not used later; after the ground is touched, whether the ground is touched or not is judged according to the state of the residual ground switch.
Description
Technical Field
The invention relates to a system impact resistance method suitable for a Mars landing task, and belongs to the field of satellite control operation.
Background
The Mars detector needs to go through a pneumatic deceleration section, an parachute landing section and a power deceleration section in the landing process. The initiating explosive device is successively subjected to the initiating explosive device firing process of balancing wings, ejecting umbrellas, throwing the outsole, unfolding landing legs and throwing the back cover and the parachute unfolding process, and large impact acceleration can be generated during initiating explosive device firing and parachute opening, and the maximum impact acceleration can reach 2200g. The GNC subsystem products need to bear the mechanical environment, and the working time sequence of the system is not interrupted normally. The Mars landing process time is short (about 9 minutes), the measurement and control time delay is large (20 minutes per pass), and the EDL process cannot be manually interfered on the ground and can only be independently executed by a system on the orbit. Therefore, a system impact resistance method suitable for spark landing tasks is needed, and the system impact resistance relay management, trim wing state autonomous diagnosis and treatment and ground contact switch state autonomous diagnosis and treatment during the initiating explosive device action are included, so that the autonomous and reliable completion of the landing process is ensured.
Disclosure of Invention
The invention aims to solve the technical problems that: the system impact resistance method suitable for the Mars landing task is provided, and comprises the steps of relay impact resistance, trim wing state autonomous diagnosis and processing, and ground contact switch state autonomous diagnosis and processing; continuously powering up an electromagnetic coil in the relay from before detonation to after detonation of the initiating explosive device so as to enable the relay to work normally; autonomous trim wing status diagnostics and processing includes: before initiating the initiating explosive device, if a certain road balancing span opening in-place signal is collected to be effective, the road switch is considered to be faulty, and the road signal is not used later; after initiating the initiating explosive device, if one or more trimming wing opening in-place signals are collected to be effective, the trimming wing opening is considered to be in place, otherwise, the trimming wing is considered not to be unfolded; the autonomous diagnosis and processing of the state of the grounding switch comprise the following steps: before touchdown, if a certain road touchdown switch is in a touchdown state, the state of the road touchdown switch is considered to be faulty, and the road signal is not used later; after the ground is touched, whether the ground is touched or not is judged according to the state of the residual ground switch.
The invention aims at realizing the following technical scheme:
the system impact resistance method suitable for spark landing task is used in initiating explosive device action and touchdown period, and includes relay impact resistance, trim wing state autonomous diagnosis and treatment, and touchdown switch state autonomous diagnosis and treatment;
continuously powering up an electromagnetic coil in the relay from before detonation to after detonation of the initiating explosive device so as to enable the relay to work normally;
autonomous trim wing status diagnostics and processing includes: before initiating the initiating explosive device, if a certain road balancing span opening in-place signal is collected to be effective, the road switch is considered to be faulty, and the road signal is not used later; after initiating the initiating explosive device, if one or more trimming wing opening in-place signals are collected to be effective, the trimming wing opening is considered to be in place, otherwise, the trimming wing is considered not to be unfolded;
the autonomous diagnosis and processing of the state of the grounding switch comprise the following steps: before touchdown, if a certain road touchdown switch is in a touchdown state, the state of the road touchdown switch is considered to be faulty, and the road signal is not used later; after the ground is touched, whether the ground is touched or not is judged according to the state of the residual ground switch.
Preferably, for relay impact resistance:
firstly, continuously sending a relay power supply instruction to enable the relay to be attracted; then sending initiating explosive device initiation instructions; stopping sending a relay power supply instruction when the lander enters the next state;
in the process of continuously sending the relay power supply instruction, the time interval between two adjacent times of sending is smaller than the preset time interval.
Preferably, the relay adopts an impact-resistant mode when the balancing wing of the lander is unfolded and the back cover is thrown.
Preferably, the ground controls whether the relay adopts impact resistance or not to perform enabling control through the control instruction.
Preferably, when the ground is provided with a fault of the in-place switch state of a certain trim wing, the in-place signal of the trim wing does not participate in logic judgment of any in-place state of the trim wing.
Preferably, the ground can set a state fault of a certain touchdown switch, so that the touchdown switch does not participate in subsequent logical judgment of the touchdown switch.
Preferably, a Hall type grounding switch is adopted, and the grounding switch is in an off state before grounding; collecting the state of each path of grounding switch by using the FPGA in each fixed period, filtering and maintaining the state, if the FPGA continuously collects that a certain path of contact switch is in a closed state, setting the state mark of the path of grounding switch as 1, otherwise, setting the state mark of the path of grounding switch as 0; wherein each touchdown switch is initialized to 0 at power up or to 0 by application software.
Preferably, when the lander is more than 20m from the Mars surface, a certain touchdown switch is in a touchdown state, and the touchdown switch is considered to be in a state failure.
Preferably, the lander uses a thruster for attitude control when the trim wing is not deployed.
Compared with the prior art, the invention has the following beneficial effects:
(1) The impact-resistant design method of the system solves the problem of system tolerance in a large impact environment in the Mars landing process of the first detector, and the technology has popularization value in the following Mars sampling return, mars landing detection and other atmospheric extraterrestrial celestial body soft landing projects.
(2) In the impact process, the method for improving the impact resistance of the relay by continuously powering on the contact attraction is beneficial to reducing the impact resistance index of the relay and expanding the type selection range of the relay;
(3) The invention embodies the design concept of ground priority, and is beneficial to the control of the ground to the state on the satellite;
(4) The technology for filtering and maintaining the state of the grounding switch by using the FPGA is beneficial to reducing the hardware complexity of products and reducing the frequency of acquiring the state of the grounding switch by using software;
(5) The invention solves the problems of fault diagnosis and isolation of the switch sensor under the condition of large impact, and provides a solution for the use of similar products under the similar impact environment.
Drawings
FIG. 1 is a schematic view of the components of an access chamber.
Fig. 2 is a schematic diagram of a Mars landing process.
Fig. 3 is a schematic deployment view of a trim wing.
FIG. 4 is a trim wing diagnostic and process flow diagram.
Fig. 5 is a flowchart of the tactile switch diagnosis and process.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
The Mars entry pod (lander) consists of a back cover, a heat release outsole, and a landing platform (fig. 1), the back cover being equipped with trim wings and parachutes, the landing platform being equipped with landing legs. Before the detector enters the Mars atmosphere, the landing leg is in a compressed state, and the trimming wing is in a closed state. The landing platform is wrapped in a closed cabin formed by the back cover and the heat-proof outsole to form an entering cabin configuration. The GNC subsystem of the entering cabin completes the gesture and position control of the entering cabin in the process of the Mars landing, and the safety landing of the detector on the Mars surface is realized. The entering cabin GNC subsystem takes the entering descending control unit as a core controller, the configured sensors comprise a star sensor, an IMU, a microwave ranging and speed measuring sensor, a ground contact switch, a trimming wing in-place switch and the like, and the configured executing mechanism comprises various thrusters, trimming wings controlled by initiating explosive devices, parachutes and the like. The descending control unit is used for collecting the measurement output of the sensor, solving the measurement output, obtaining the posture and position speed information of the detector, and driving various actuating mechanisms to act so that the position and posture of the detector reach the expected design state. The entering descending control unit can directly control the power on and power off of each sensor in the system.
In the process of entering the cabin from outside the atmospheric layer of the Mars to the surface of the landing Mars, three processes (figure 2) of a pneumatic deceleration section, an umbrella system deceleration section and a power deceleration section are required to be carried out, and the whole process of products entering the cabin GNC subsystem is powered up to complete the detector control of the landing process. The first stage of entering the cabin into the Mars atmosphere is a pneumatic deceleration section, the detector of the section decelerates through the resistance of the Mars atmosphere to the entering cabin, and when the deceleration is to a certain degree, the entering cabin GNC subsystem detonates the initiating explosive device on the back cover, and the balancing wing is unfolded to complete the posture adjustment of the entering cabin (figure 3). The entering cabin GNC subsystem can obtain whether the trimming wing is unfolded or not through the state of a contact switch on the trimming wing, and if the trimming wing is not unfolded, a thruster is used for adjusting the posture of the detector; with further reduction of the speed of the entering cabin, the pneumatic deceleration efficiency is reduced, and the detector is shifted into the parachute deceleration section. At the moment, initiating explosive devices on the back cover are initiated by the cabin GNC subsystem, the parachute is ejected, after the parachute is unfolded, the detector continuously decelerates, when the speed is reduced to a proper speed, the initiating explosive devices are initiated by the cabin GNC subsystem, the heat-resistant outsole is thrown away, and then the initiating explosive devices are initiated again after the distance between the heat-resistant outsole is enough at a certain interval, and landing legs on a landing platform are unfolded. And then the microwave ranging and speed measuring sensor can emit microwaves and turn into a working measurement mode. When the detector reaches a certain height, the entering cabin GNC subsystem detonates the initiating explosive device, separates the landing platform from the back cover umbrella assembly, and then ignites the main engine on the landing platform to control the landing platform to safely land on the surface of the Mars.
The power supply line of each sensor of the cabin GNC subsystem is provided with a magnetic latching relay, a grounding switch and an electromagnetic coil are arranged in the relay, the electromagnetic coil is powered to provide attraction magnetic force to control the on-off of the grounding switch, after the coil is powered off, the grounding switch is kept in a state, and the power on-off of the sensor can be realized by controlling the switch of the relay. According to the manual of the relay products, the impact resistance of the relay is about 100g at maximum, namely when the impact quantity is greater than 100g, the relay can be subjected to switch state reversion, at the moment, if the product is in an original power-on state, the power is cut off, and the impact acceleration of the detector initiating explosive device during detonation is 2200g at maximum, so that the possibility that the relay is subjected to reversion by the power supply of the sensor exists. The system solves the problem by continuously supplying power to the magnetic coil of the relay to provide continuous attraction magnetic force when initiating the initiating explosive device, so as to improve the impact resistance of the relay; in addition, for products such as a microwave ranging and speed measuring sensor, after initiating the initiating explosive device, the working state of the product is set again so as to prevent misoperation of the relay.
The trimming wingspan opening in-place switch is a press-fit switch without a memory function, adopts a double-path design with mutual backup, and enters an FPGA acquisition switch state of the cabin descent control unit to be provided for application software. In order to ensure the correct use of the switch state in the entering process, the subsystem designs an autonomous trimming span opening in-place switch diagnosis and processing logic, and the method is that before a descending control unit sends a trimming span opening initiating article to act, if a trimming span opening in-place signal is collected to be effective, the switch is considered to be faulty, and the signal is not used in the follow-up process; if one or more trimming span opening in-place signals are valid after the descending control unit sends trimming span opening firing tools to act, the trimming span opening is considered in place; if the fault-free trimming wing opening in-place switch is not effective, the trimming wing is not unfolded, and a thruster is used for carrying out attitude control instead of the trimming wing. In addition, the ground can also be provided with a state fault of a switch of a certain balancing wing in place, and the logic judgment of the state of opening the balancing wing in place in the follow-up balancing wing is not participated.
The landing platform is provided with Hall type grounding switches on the four landing legs respectively, and the landing platform is in an off state before grounding. The FPGA entering the cabin descent control unit collects four-way grounding switch states, and performs filtering and state maintenance, namely if the FPGA continuously collects the grounding switch to be in a closed state within any 6ms, the grounding switch state is set to be 1, and the grounding switch state is initialized to be 0 when power is applied or is set to be 0 by application software. Because the large impact of the initiating explosive device action can cause the false closing of the grounding switch, an autonomous grounding switch diagnosis and processing logic is designed. The method specifically comprises the steps of clearing a four-way grounding switch state flag of an FPGA (field programmable gate array) to 0 at the initial stage of starting power deceleration, detecting the four-way grounding switch flag by application software every cycle, and considering that the state of the four-way grounding switch is faulty and does not participate in subsequent grounding shutdown logic judgment if the grounding switch flag is set to 1 before 20m from a fire surface. In addition, the ground can also set a state fault of a certain ground-touching switch, and the subsequent ground-touching shutdown logic judgment is not participated.
The system impact resistance method suitable for Mars landing task mainly comprises three aspects of impact resistance relay management, trim wing state autonomous diagnosis and processing, and ground contact switch state autonomous diagnosis and processing.
The impact resistance relay management of the system during the initiating explosive device action is to improve the impact resistance of the product by a continuous power-up mode of an electromagnetic coil in a relay during the initiating explosive device detonation;
before the descending control unit sends the action of the balancing wingspan firing tool, if a certain balancing wingspan in-place signal is collected to be effective, the road switch is considered to be faulty, and the road signal is not used later; if one or more trimming span opening in-place signals are valid after the descending control unit sends trimming span opening firing tools to act, the trimming span opening is considered in place; if the fault-free trimming wing opening in-place switch is not effective, the trimming wing is not unfolded, and a thruster is used for carrying out attitude control instead of the trimming wing. In addition, the ground can also be provided with a state fault of a switch of a certain balancing wing in place, so that the logic judgment of the state of opening the balancing wing in place in the follow-up process is not participated;
the autonomous diagnosis and processing of the state of the ground contact switch is that the FPGA entering the cabin descent control unit collects four-way ground contact switch states and performs filtering and state maintenance, namely if the FPGA continuously collects the contact switch to be in a closed state within any 6ms, the ground contact switch state is set to be 1, and the flag is initialized to be 0 when power is applied or is set to be 0 by application software. Because the large impact of the initiating explosive device action can cause the false closing of the grounding switch, an autonomous grounding switch diagnosis and processing logic is designed. The method specifically comprises the steps of clearing a four-way grounding switch state flag of an FPGA (field programmable gate array) to 0 at the initial stage of starting power deceleration, detecting the four-way grounding switch flag by application software every cycle, and considering that the state of the four-way grounding switch is faulty and does not participate in subsequent grounding shutdown logic judgment if the grounding switch flag is set to 1 before 20m from a fire surface. In addition, the ground can also set a state fault of a certain ground-touching switch, and the subsequent ground-touching shutdown logic judgment is not participated.
More specifically:
the impact-resistant relay management flow is as follows:
(1) Before the lander starts the atmospheric entry of the Mars, a ground injection command, a vertical detonation impact resistant Flag flag_anti=1, which indicates that the following steps 2 to 4 are allowed to be executed on the satellite, otherwise, the following operation is not executed;
(2) In the entering process of the Mars atmosphere in the entering cabin, the entering cabin GNC subsystem judges the deceleration condition of the lander in real time, and when the detector is reduced to the speed of unfolding the trimming wing, the subsystem firstly sends a sensor power supply instruction, and the sensor power supply switch is closed, and then develops a trimming wing initiating explosive device detonation instruction. The single sensor power supply instruction can enable the electromagnetic coil in the relay to maintain the power-on current for a limited time (set as T1), and in order to ensure that the power-on current lasts for a long enough time, software sends the sensor power supply instruction at intervals not more than T1;
(3) And stopping sending the sensor power supply instruction by the GNC subsystem approximately 5s after the entering cabin meets the condition of unfolding landing legs. The whole relay continues the sucking time for about 100s, and covers the processes of unfolding the balance wing, bouncing the umbrella, throwing the heat-proof outsole and unfolding the landing leg.
(4) The detector further decelerates, when the speed is reduced to the speed capable of throwing the back cover, the subsystem firstly transmits a power supply instruction of the sensor, the power supply switch of the sensor is attracted, and then a priming instruction of a priming work of the back cover is transmitted, the follow-up subsystem continuously transmits the power supply instruction of the sensor for about 10s, the interval time between two adjacent instructions is ensured to be smaller than T1, and the instructions cover the process of igniting the main engines of the back cover and the landing platform.
The autonomous diagnosis and treatment flow of the trimming wing are as follows:
and the FPGA entering the descending control unit acquires the in-place switching state of the two trimming wings, correspondingly generates in-place switching signals of the two trimming wings to the application software, and the application software completes the subsequent autonomous diagnosis program. The diagnostic and process flow is shown in fig. 4.
(1) Before entering the Mars atmosphere, the trimming span opening signal available mark is maintained by the ground and can be modified by an uplink injection mode;
(2) The software autonomously maintains a trim span opening signal available mark before entering the Mars atmosphere and meeting a trim span opening instruction, acquires 2 paths of trim span opening in-place signals according to a fixed period (such as 128 ms), considers a path to be faulty when a certain path of trim span opening in-place signal is valid, and sets the path of trim span opening signal available mark as unavailable (a certain bit in the mark is 1); the "trim span open signal available flag" initial value defaults to full availability (flag 0).
(3) The software collects the trim span open in-place signals output by 2 paths of parallel ports according to a fixed period (such as 128 ms), and performs OR operation on the open in-place signals ('0' for open in place and '1' for not open in place) of each path and the trim span open signals of the path by using a mark (a certain bit of the mark), and the output result is that the trim span open state of the path (0 represents that the path is in an open state and 1 is in an unexpanded state);
(4) After the software sends a trimming wing span firing article detonating instruction, the software starts to judge a trimming wing unfolding mark. When at least 1 trimming wing opening state is found to be valid, setting a trimming wing unfolding mark to be valid, wherein the trimming wing opening mark is invalid by default; if the initiating explosive device command is sent for 10 seconds and the unfolding mark is invalid, the GNC system adopts a thruster to control the attitude of entering the cabin, otherwise, the trimming wing is used to control the attitude of entering the cabin.
The ground switch state autonomous diagnosis and the processing flow are as follows:
the FPGA entering the descending control unit collects the states of the four-way grounding switch, generates 4-way grounding shutdown signals to the application software respectively after filtering and maintaining, and the application software completes the subsequent autonomous diagnosis program. The application software can change the FPGA to output a certain ground-touching shutdown signal value in a manner of writing the FPGA. The diagnostic and process flow is shown in fig. 5.
(1) Before entering a Mars atmosphere layer, a ground-touching shutdown signal available mark is maintained by the ground and can be modified through uplink injection, and when a certain path of ground-touching shutdown signal is injected (a certain bit in the mark is 0), a path of ground-touching switch signal output by the FPGA is simultaneously set to be 1 (representing that a ground-touching switch is in an untouched state); the initial value of the available mark of the ground-touching shutdown signal defaults to be fully available (mark is 0);
(2) After the landing platform enters the power deceleration section, the software performs write-once operation on the FPGA, and sets a 4-path fire switch signal to be 1.
(3) Then, the software autonomously maintains the available mark of the ground-touching shutdown signal until the distance from the surface of the Mars is 20m high, four paths of ground-touching shutdown signals are collected according to a fixed period (such as 128 ms), when the ground-touching shutdown signal is effective, the path is considered to be faulty, and the path 'available mark of the ground-touching shutdown signal' is set as unavailable (a certain bit in the mark is 1);
(4) After the software collects 4 paths of ground-touching shutdown signals every fixed period, performing OR operation on one bit of the ground-touching shutdown signals ('0' for the switch to be closed and valid '1' for the switch to be opened) of each path and a ground-touching shutdown signal available mark of the path, and outputting a result to be a ground-touching shutdown state of the path (0 represents that the path is in a ground-touching state and 1 is in an untouched state);
(5) The landing platform starts to judge the ground-touching shutdown mark every cycle under 20m from the Mars surface, if the criterion is met, the ground-touching shutdown mark is 1, the landing platform is considered to be landed, and the subsequent operation can be carried out according to the program.
The method of the invention is successfully applied to the Mars detector and successfully lands on the Mars surface, and the strategy works normally during the period, each product of the subsystem works well, and each switch state is correctly interpreted, thus achieving the purpose of system design.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (9)
1. The system impact resistance method suitable for the spark landing task is used for the initiating explosive device action and the touchdown period and is characterized by comprising the steps of relay impact resistance, trim wing state autonomous diagnosis and treatment and touchdown switch state autonomous diagnosis and treatment;
continuously powering up an electromagnetic coil in the relay from before detonation to after detonation of the initiating explosive device so as to enable the relay to work normally;
autonomous trim wing status diagnostics and processing includes: before initiating the initiating explosive device, if a certain road balancing span opening in-place signal is collected to be effective, the road switch is considered to be faulty, and the road signal is not used later; after initiating the initiating explosive device, if one or more trimming wing opening in-place signals are collected to be effective, the trimming wing opening is considered to be in place, otherwise, the trimming wing is considered not to be unfolded;
the autonomous diagnosis and processing of the state of the grounding switch comprise the following steps: before touchdown, if a certain road touchdown switch is in a touchdown state, the state of the road touchdown switch is considered to be faulty, and the road signal is not used later; after the ground is touched, whether the ground is touched or not is judged according to the state of the residual ground switch.
2. The system impact resistance method of claim 1, wherein for relay impact resistance:
firstly, continuously sending a relay power supply instruction to enable the relay to be attracted; then sending initiating explosive device initiation instructions; stopping sending a relay power supply instruction when the lander enters the next state;
in the process of continuously sending the relay power supply instruction, the time interval between two adjacent times of sending is smaller than the preset time interval.
3. The system impact resistance method according to claim 2, wherein the relays are in an impact resistance mode when the trim wings of the lander are unfolded and the back cover is thrown.
4. The system impact resistance method according to claim 1, wherein the ground enables control of whether the relay adopts impact resistance by a control command.
5. The system shock resistance method according to claim 1, wherein when a ground surface is provided with a fault of a certain trim wing in place switch state, the trim wing in place signal will not participate in any logic judgment of the trim wing in place state.
6. The system shock resistance method according to claim 1, wherein the ground is capable of setting a status fault of a touchdown switch such that the touchdown switch no longer participates in a subsequent logical judgment of the touchdown switch.
7. The system impact resistance method according to any one of claims 1 to 6, wherein a hall type ground contact switch is adopted, and the system is in an off state before the ground contact; collecting the state of each path of grounding switch by using the FPGA in each fixed period, filtering and maintaining the state, if the FPGA continuously collects that a certain path of contact switch is in a closed state, setting the state mark of the path of grounding switch as 1, otherwise, setting the state mark of the path of grounding switch as 0; wherein each touchdown switch is initialized to 0 at power up or to 0 by application software.
8. The system shock resistance method according to claim 7, wherein when the lander is 20m or more from the Mars surface, a touchdown switch is in a touchdown state, and the touchdown switch is considered to be in a fault state.
9. The system impact resistance method according to any one of claims 1 to 6, wherein the lander uses a thruster for attitude control when the trim wing is not deployed.
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