CN113830331A - Solar sailboard active control and fault detection method oriented to energy safety - Google Patents
Solar sailboard active control and fault detection method oriented to energy safety Download PDFInfo
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- B64G1/00—Cosmonautic vehicles
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Abstract
The invention relates to an energy safety-oriented solar sailboard active control and fault detection method, which comprises the following steps: (1) setting the initial rotation direction SDir of the sailboard as 1, setting the control mode SMode as HOLD, setting the control counter NScounter as 0, recording the initial value of the calibrated ignition frequency k as 1, and if the sailboard is allowed to be actively controlled, circularly performing the steps (2) to (6); (2) calculating a target turning angle of the sailboard; (3) detecting and processing jump faults of the sailboard corner measurement; (4) calculating a deviation value of the turning angle of the sailboard according to the target turning angle of the sailboard and the collected measured turning angle of the sailboard; (5) generating a sailboard grading driving instruction according to the corner deviation value; (6) if the sailboard is forbidden to be actively controlled, the calculation process is quitted; otherwise, returning to the step (2), and adding 1 to k. The invention has the automatic detection capability of the corner counting jump fault and solves the problem of detecting and processing the corner counting jump fault.
Description
Technical Field
The invention relates to an active control and fault detection method for a solar sailboard for energy safety, and belongs to the field of spacecraft control.
Background
In a normal state, a driving control mode of a geostationary orbit (GEO) satellite solar array is generally based on a change rule of the sun direction of an operation orbit, a fixed array corner change rate is given according to a driving period of a stepping motor, and the array corner change quantity fixed in each period is given so as to drive the array to track the sun at a constant speed on the operation orbit. In practical tasks, the unconventional operating conditions of the windsurfing board drive mechanism (SADA) need to be considered: the method comprises the following steps of remote control stalling, remote control quick rotation in place, corner offset setting and the like, and abnormal working conditions: the method comprises the steps of locked rotor of a rotating mechanism, idling, abnormal zero-crossing signals, abnormal rotation angle counting and the like.
Therefore, the method for actively controlling rotation of the solar sailboard and detecting faults of the solar sailboard must be perfected, autonomy, flexibility and reliability of in-orbit operation of the satellite are improved, the whole satellite energy is guaranteed to meet working requirements of loads and all parts of a satellite platform, and satellite energy safety is maintained under extreme conditions.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method is used for automatically completing calculation of a target rotation angle of the sailboard, detection of SADA rotation faults and active control of the rotation angle, and solves three main problems of calculation of the target rotation angle of the sailboard, detection and processing of faults of measurement of the rotation angle of the sailboard, calculation of deviation of the rotation angle of the sailboard and hierarchical control.
The technical scheme of the invention is as follows:
an energy safety-oriented solar sailboard active control and fault detection method comprises the following steps:
(1) setting the initial rotation direction SDir of the sailboard as 1 to represent clockwise rotation, setting the control mode SMode as HOLD, namely the holding mode, setting the control counter NSCounter as 0, recording the initial value of the calibrated ignition frequency k as 1, and if the sailboard is allowed to be actively controlled, circularly performing the steps (2) to (6);
(2) calculating a target turning angle of the sailboard;
(3) detecting and processing jump faults of the sailboard corner measurement;
(4) calculating a deviation value of the turning angle of the sailboard according to the target turning angle of the sailboard and the collected measured turning angle of the sailboard;
(5) generating a sailboard grading driving instruction according to the corner deviation value;
(6) if the sailboard is forbidden to be actively controlled, the calculation process is quitted; otherwise, returning to the step (2), and adding 1 to k.
Further, in the step (2), the method for calculating the target turning angle of the windsurfing board comprises the following steps:
collecting sun direction vector [ Sox, Soy, Soz ] under orbital coordinate system]And attitude transformation matrix CboAnd calculating the sun direction vector under the body coordinate system:
if k is 1, the sun direction vector [ Ssadax, ssaaday, Ssadaz ] in the windsurfing coordinate system is:
Ssadax＝Sbx；
Ssaday＝Sby；
Ssadaz＝Sbz；
otherwise, performing vector filtering calculation, wherein kSadaC is a filter coefficient:
Ssadax＝(1-kSadaC)*Ssadax+kSadaC*Sbx；
Ssaday＝(1-kSadaC)*Ssaday+kSadaC*Sby；
Ssadaz＝(1-kSadaC)*Ssadaz+kSadaC*Sbz；
calculating a target corner Betab of the sailboard:
Betab＝arctan2(-Ssadax,-Ssadaz)*180/3.14159265359；
if (Betab <0), then:
Betab＝360+Betab
if | Sb _ saday | >0.9848, Sb _ saday is the projection of the unit vector in the sun direction on the direction of the rotation axis of the windsurfing board, then:
Betab＝βsada；
wherein β sada is the windsurfing board rotation angle counter measurement.
Further, in the step (3), the method for detecting and processing the jump fault of the sailboard corner measurement comprises the following steps:
and calculating the upper limit of the angle change of the sailboard rotation angle in each acquisition period according to the threshold value of the included angle between the satellite-sun vector and the Y axis of the satellite body and the range of the working orbit, so as to provide a jump threshold value measured by the sailboard rotation angle counter, and determining that jump occurs according to the rotation angle counting value exceeding the threshold value.
Further, in the above-mentioned case,
if k is 1, then:
β sadarlst, β sadarlst is the measured value of the windsurfing board turning angle of the last sampling period,
otherwise:
if | β sada- β sadarlst | >1, then:
setting a fault flag FTsada as TRUE;
according to the current control mode SMode of the sailboard, reconfiguring a rotation angle count value beta sada according to the angle increment of one control cycle:
if SMode is HOLD, then:
βsada＝βsadaLst
otherwise, if SMode is CRUISE and CRUISE means, then:
βsada＝βsadaLst+SDir*Ts*0.0208；
otherwise:
β sada ═ β sadarlst + SDir Ts 0.1; ts means the sampling period for measuring the rotation angle of the sail board,
βsadaLst＝βsada。
further, in the step (4), the method for calculating the deviation value Ysada of the turning angle of the sailboard comprises the following steps:
Ysada＝Betab+Betabtc–βsada；
wherein Betabtc is the offset of the corner offset of the sailboard, and the initial value is 0;
if Ysada >180, then:
Ysada＝Ysada-360；
otherwise, if Ysada < -180, then:
Ysada＝Ysada+360。
further, in step (5), the method for generating a driving instruction for grading windsurfing boards comprises:
and designing a driving instruction for grading the rotation angle of the sailboard according to the deviation value of the rotation angle, meeting the sun tracking control precision of the sailboard within the capability range of a motor of the sailboard driving mechanism, and simultaneously ensuring stable driving.
Further, if SMode is CRUISE, then
If SDir is 0, the following determination is made:
if YSada > SCLIMIT3, the setting is in an incremental manner:
SMode is INCR, meaning incremental,
nscount ═ 47, nscount means windsurfing corner control counter,
otherwise, if YSada < -SCLIMIT1, then set to hold mode:
SMode＝HOLD
SDir＝1
if SDir is 1, the following judgment is made:
if YSada < -SCLIMIT3, the setting is in an incremental manner:
SMode＝INCR
NSCounter＝47
otherwise, if YSada > SCLIMIT1, set to hold:
SMode＝HOLD
SDir＝0
otherwise, if SMode is HOLD, judging:
if YSada > SCLIMIT2, then go from hold mode to cruise mode:
SMode＝CRUISE；
SDir＝0；
if YSada < -SCLIMIT2, then go from holding mode to cruise mode:
SMode＝CRUISE；
SDir＝1；
otherwise
If NSCounter >0, then:
NSCounter＝NSCounter－1；
otherwise:
SMode＝CRUISE。
wherein SDIR-0 represents an increase in the SADA corner and SDIR-1 represents a decrease in the SADA corner;
SCLIMIT1, SCLIMIT2, and SCLIMIT3 are judgment threshold values, and SCLIMIT1 is 0.24 by default; SCLIMIT2 ═ 0.48; SCLIMIT3 ═ 0.72.
Compared with the prior art, the invention has the beneficial effects that:
(1) the method can automatically complete calculation of the target rotation angle of the sailboard, detection of SADA rotation faults and active control of the rotation angle, has fault detection capability under abnormal working conditions, can automatically eliminate rotation deviation of unconventional working conditions and part of abnormal working conditions, is suitable for various satellites using a single-shaft sailboard rotation control mechanism, creatively solves the problem of active control of the rotation angle of the sailboard of a new generation satellite platform, and perfects the state detection and the autonomous processing capability of the unconventional working conditions and the abnormal working conditions of sailboard rotation;
(2) the calculation method for the target rotation angle of the sailboard can adapt to the singular working condition of the solar direction, designs a threshold value according to energy requirements, and duly temporarily stops updating the target rotation angle of the sailboard, so that the problem of overlarge change rate of the rotation angle of the sailboard caused by the fact that the included angle between a satellite-solar vector and the rotating shaft of the sailboard is too small under the working conditions of attitude large-angle maneuvering, electric propulsion orbital transfer process and the like is solved;
(3) the method has the automatic detection capability of the corner counting and jumping fault, a reasonable detection threshold value of the corner counting and jumping of the sailboard is designed according to the upper limit of the angle change of the sailboard corner in each period, and the angle measurement value is automatically reconfigured according to the counting value of the previous period and the dynamics of the track, so that the problems of detection and processing of the corner counting and jumping fault are solved;
(4) according to the invention, the autonomous management and the hierarchical control of the SADA rotation mode are realized based on the rotation angle deviation, the rotation angle hierarchical driving instruction of the sailboard is designed according to the rotation angle deviation value, the sun tracking control precision of the sailboard is met within the SADA driving capability range, the sailboard is driven as stably as possible, and the excitation on the flexible vibration of the sailboard is reduced.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The invention is further illustrated by the following examples.
The invention provides an energy safety-oriented solar sailboard active control and fault detection method, as shown in fig. 1, the specific implementation mode is as follows:
(1) setting the initial rotation direction SDir of the sailboard as 1, setting the control mode SMode as "HOLD", setting the control counter NScounter as 0, and recording the initial value of the calibrated ignition frequency k as 1. And (5) if the sailboard is allowed to be actively controlled, circularly performing the steps (2) to (6):
(2) and calculating the target turning angle of the sailboard.
(3) And detecting and processing jump faults of the sailboard corner measurement.
(4) And calculating the deviation value of the turning angle of the sailboard according to the target turning angle of the sailboard and the collected measured turning angle of the sailboard.
(5) And generating a driving instruction for grading the sailboard according to the deviation value of the turning angle.
(6) If the sailboard is forbidden to be actively controlled, the calculation process is quitted; otherwise, returning to the step (2), and adding 1 to k.
The method for calculating the target turning angle of the sailboard comprises the following steps:
collecting a sun direction vector [ Sox, Soy, Soz ] and a posture conversion matrix Cbo under an orbit coordinate system, and calculating the sun direction vector under a body coordinate system:
if k is 1, the sun direction vector [ Ssadax, ssaaday, Ssadaz ] in the windsurfing coordinate system is:
Ssadax＝Sbx；
Ssaday＝Sby；
Ssadaz＝Sbz；
otherwise, performing vector filtering calculation, wherein kSadaC is a filter coefficient:
Ssadax＝(1-kSadaC)*Ssadax+kSadaC*Sbx；
Ssaday＝(1-kSadaC)*Ssaday+kSadaC*Sby；
Ssadaz＝(1-kSadaC)*Ssadaz+kSadaC*Sbz；
calculating a target corner Betab of the sailboard:
Betab＝arctan2(-Ssadax,-Ssadaz)*180/3.14159265359；
if (Betab <0), then:
Betab＝360+Betab
if Sb _ saday | >0.9848, then:
Betab＝βsada；
wherein β sada is the windsurfing board rotation angle counter measurement.
The method for detecting and processing the jump fault of the sailboard corner measurement comprises the following steps:
if k is 1, then:
βsadaLst＝βsada
otherwise:
if | β sada- β sadarlst | >1, then:
setting a fault flag FTsada as TRUE;
if SMode is HOLD, then:
βsada＝βsadaLst
otherwise, if SMode is CRUISE, then:
βsada＝βsadaLst+SDir*Ts*0.0208；
otherwise:
βsada＝βsadaLst+SDir*Ts*0.1；
βsadaLst＝βsada。
the method for calculating the deviation value of the turning angle of the sailboard comprises the following steps:
Ysada＝Betab+Betabtc-βsada；
wherein Betabtc is the offset of the rotation angle of the sailboard, and the initial value is 0.
If Ysada >180, then:
Ysada＝Ysada-360；
otherwise, if Ysada < -180, then:
Ysada＝Ysada+360。
the method for generating the windsurfing board grading driving instruction comprises the following steps:
if SMode is CRUISE, then
If SDir is 0, the following determination is made:
if (YSada > SCLIMIT3), then set to incremental:
SMode＝INCR
NSCounter＝47
otherwise, if YSada < -SCLIMIT1, then set to hold mode:
SMode＝HOLD
SDir＝1
if SDir is 1, the following judgment is made:
if (YSada < -SCLIMIT3), then set to incremental mode:
SMode＝INCR
NSCounter＝47
otherwise, if YSada > SCLIMIT1, set to hold:
SMode＝HOLD
SDir＝0
otherwise, if (SMode ═ HOLD), then it is determined:
if (YSada > SCLIMIT2), then go from hold mode to cruise mode:
SMode＝CRUISE；
SDir＝0；
if (YSada < -SCLIMIT2), then go from holding mode to cruise mode:
SMode＝CRUISE；
SDir＝1；
otherwise
If NSCounter >0, then:
NSCounter＝NSCounter－1；
otherwise:
SMode＝CRUISE。
description of the drawings: SDIR-0 represents an increase in the SADA corner, and SDIR-1 represents a decrease in the SADA corner.
SCLIMIT1, SCLIMIT2, and SCLIMIT3 are judgment threshold values, and SCLIMIT1 is 0.24 by default; SCLIMIT2 ═ 0.48; SCLIMIT3 ═ 0.72.
Examples
Parameters set for the calculation examples are shown in table 1:
table 1 example set-up parameters
TABLE 2 calculation results of step 1
TABLE 3 calculation results of step 2
| Parameter name | Parameter value | Unit of | Remarks for note |
| k | 2 | / | |
| Betab | 90.0208 | Degree of rotation | |
| βsada | 88.0208 | Degree of rotation | |
| βsadaLst | 88.0208 | Degree of rotation | |
| FTsada | FALSE | / | |
| YSada | 2 | Degree of rotation | |
| SMode | INCR | / | |
| SDIR | 0 | / | |
| NSCounter | 47 | / |
TABLE 4 calculation results of step 3
TABLE 5 calculation results of step 4
The calculation method for the target rotation angle of the sailboard can adapt to the singular working condition of the solar direction, designs a threshold value according to energy requirements, and duly temporarily stops updating the target rotation angle of the sailboard, so that the problem of overlarge change rate of the rotation angle of the sailboard caused by the fact that the included angle between a satellite-solar vector and the rotating shaft of the sailboard is too small under the working conditions of attitude large-angle maneuvering, electric propulsion orbital transfer process and the like is solved;
the method has the automatic detection capability of the corner counting and jumping fault, a reasonable detection threshold value of the corner counting and jumping of the sailboard is designed according to the upper limit of the angle change of the sailboard corner in each period, and the angle measurement value is automatically reconfigured according to the counting value of the previous period and the dynamics of the track, so that the problems of detection and processing of the corner counting and jumping fault are solved;
according to the invention, the autonomous management and the hierarchical control of the SADA rotation mode are realized based on the rotation angle deviation, the rotation angle hierarchical driving instruction of the sailboard is designed according to the rotation angle deviation value, the sun tracking control precision of the sailboard is met within the SADA driving capability range, the sailboard is driven as stably as possible, and the excitation on the flexible vibration of the sailboard is reduced.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (7)
1. An energy safety-oriented solar sailboard active control and fault detection method is characterized by comprising the following steps:
(1) setting the initial rotation direction SDir of the sailboard as 1 to represent clockwise rotation, setting the control mode SMode as HOLD, namely the holding mode, setting the control counter NSCounter as 0, recording the initial value of the calibrated ignition frequency k as 1, and if the sailboard is allowed to be actively controlled, circularly performing the steps (2) to (6);
(2) calculating a target turning angle of the sailboard;
(3) detecting and processing jump faults of the sailboard corner measurement;
(4) calculating a deviation value of the turning angle of the sailboard according to the target turning angle of the sailboard and the collected measured turning angle of the sailboard;
(5) generating a sailboard grading driving instruction according to the corner deviation value;
(6) if the sailboard is forbidden to be actively controlled, the calculation process is quitted; otherwise, returning to the step (2), and adding 1 to k.
2. The active control and fault detection method for solar windsurfing boards facing energy safety of claim 1, wherein in the step (2), the method for calculating the target turning angle of the windsurfing board is as follows:
collecting sun direction vector [ Sox, Soy, Soz ] under orbital coordinate system]And attitude transformation matrix CboAnd calculating the sun direction vector under the body coordinate system:
if k is 1, the sun direction vector [ Ssadax, ssaaday, Ssadaz ] in the windsurfing coordinate system is:
Ssadax＝Sbx；
Ssaday＝Sby；
Ssadaz＝Sbz；
otherwise, performing vector filtering calculation, wherein kSadaC is a filter coefficient:
Ssadax＝(1-kSadaC)*Ssadax+kSadaC*Sbx；
Ssaday＝(1-kSadaC)*Ssaday+kSadaC*Sby；
Ssadaz＝(1-kSadaC)*Ssadaz+kSadaC*Sbz；
calculating a target corner Betab of the sailboard:
Betab＝arctan2(-Ssadax,-Ssadaz)*180/3.14159265359；
if (Betab <0), then:
Betab＝360+Betab
if | Sb _ saday | >0.9848, Sb _ saday is the projection of the unit vector in the sun direction on the direction of the rotation axis of the windsurfing board, then:
Betab＝βsada；
wherein β sada is the windsurfing board rotation angle counter measurement.
3. The active control and fault detection method for solar sailboard oriented to energy safety as claimed in claim 1, wherein in step (3), the method for detecting and processing the jump fault of the measurement of the turning angle of the sailboard is as follows:
and calculating the upper limit of the angle change of the sailboard rotation angle in each acquisition period according to the threshold value of the included angle between the satellite-sun vector and the Y axis of the satellite body and the range of the working orbit, so as to provide a jump threshold value measured by the sailboard rotation angle counter, and determining that jump occurs according to the rotation angle counting value exceeding the threshold value.
4. The active control and fault detection method for solar windsurfing boards according to claim 3, wherein the fault detection method comprises the steps of,
if k is 1, then:
β sadarlst, β sadarlst is the measured value of the windsurfing board turning angle of the last sampling period,
otherwise:
if | β sada- β sadarlst | >1, then:
setting a fault flag FTsada as TRUE;
according to the current control mode SMode of the sailboard, reconfiguring a rotation angle count value beta sada according to the angle increment of one control cycle:
if SMode is HOLD, then:
βsada＝βsadaLst
otherwise, if SMode is CRUISE and CRUISE means, then:
βsada＝βsadaLst+SDir*Ts*0.0208；
otherwise:
β sada ═ β sadarlst + SDir Ts 0.1; ts means the sampling period for measuring the rotation angle of the sail board,
βsadaLst＝βsada。
5. the active control and fault detection method for solar sailboard for energy safety according to claim 1, wherein in step (4), the method for calculating the deviation value of turning angle Ysada of the sailboard is:
Ysada＝Betab+Betabtc–βsada；
wherein Betabtc is the offset of the corner offset of the sailboard, and the initial value is 0;
if Ysada >180, then:
Ysada＝Ysada-360；
otherwise, if Ysada < -180, then:
Ysada＝Ysada+360。
6. the active control and fault detection method for solar windsurfing boards facing energy safety of claim 1, wherein in step (5), the method for generating a windsurfing board grading driving command comprises:
and designing a driving instruction for grading the rotation angle of the sailboard according to the deviation value of the rotation angle, meeting the sun tracking control precision of the sailboard within the capability range of a motor of the sailboard driving mechanism, and simultaneously ensuring stable driving.
7. The active control and fault detection method for solar panels for energy safety according to claim 6, wherein if SMode is CRUISE, then
If SDir is 0, the following determination is made:
if YSada > SCLIMIT3, the setting is in an incremental manner:
SMode is INCR, meaning incremental,
nscount ═ 47, nscount means windsurfing corner control counter,
otherwise, if YSada < -SCLIMIT1, then set to hold mode:
SMode＝HOLD
SDir＝1
if SDir is 1, the following judgment is made:
if YSada < -SCLIMIT3, the setting is in an incremental manner:
SMode＝INCR
NSCounter＝47
otherwise, if YSada > SCLIMIT1, set to hold:
SMode＝HOLD
SDir＝0
otherwise, if SMode is HOLD, judging:
if YSada > SCLIMIT2, then go from hold mode to cruise mode:
SMode＝CRUISE；
SDir＝0；
if YSada < -SCLIMIT2, then go from holding mode to cruise mode:
SMode＝CRUISE；
SDir＝1；
otherwise
If NSCounter >0, then:
NSCounter＝NSCounter－1；
otherwise:
SMode＝CRUISE。
wherein SDIR-0 represents an increase in the SADA corner and SDIR-1 represents a decrease in the SADA corner;
SCLIMIT1, SCLIMIT2, and SCLIMIT3 are judgment threshold values, and SCLIMIT1 is 0.24 by default; SCLIMIT2 ═ 0.48; SCLIMIT3 ═ 0.72.
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| CN110450980A (en) * | 2019-08-14 | 2019-11-15 | 上海卫星工程研究所 | Satellite solar battery array closed loop is to day tracking and its tracking system |
| CN111966517A (en) * | 2020-07-20 | 2020-11-20 | 北京控制工程研究所 | On-orbit autonomous anomaly detection method for hierarchical spacecraft control system |
| CN113378351A (en) * | 2021-04-30 | 2021-09-10 | 北京控制工程研究所 | On-line intelligent field picking method for satellite attitude sensor measurement data |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114476134A (en) * | 2022-01-28 | 2022-05-13 | 北京控制工程研究所 | Spacecraft energy safety sun target attitude calculation method |
| CN114476134B (en) * | 2022-01-28 | 2023-07-14 | 北京控制工程研究所 | Spacecraft energy safety daily target attitude calculation method |
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