CN114237040A - Satellite fuel allowance on-orbit real-time autonomous calculation and control system - Google Patents
Satellite fuel allowance on-orbit real-time autonomous calculation and control system Download PDFInfo
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- CN114237040A CN114237040A CN202111363621.2A CN202111363621A CN114237040A CN 114237040 A CN114237040 A CN 114237040A CN 202111363621 A CN202111363621 A CN 202111363621A CN 114237040 A CN114237040 A CN 114237040A
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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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
The invention relates to an on-orbit real-time autonomous calculation and control system for satellite fuel allowance, belonging to the field of satellite fuel allowance control; the system comprises an intelligent calculation unit, 3 temperature sensors, a pressure sensor, a storage tank valve, a temperature measurement unit, a pressure measurement unit and a valve control unit; the intelligent computing unit is respectively communicated with the temperature measuring unit, the pressure measuring unit and the valve control unit through a CAN bus; the intelligent computing unit comprises a known data storage module, an on-satellite data collection module, a fuel autonomous computing module and an analysis decision module; the invention realizes the on-orbit analysis of the residual amount of the satellite fuel and controls the fuel use condition in real time.
Description
Technical Field
The invention belongs to the field of satellite fuel allowance control, and relates to an on-orbit real-time autonomous calculation and control system for satellite fuel allowance.
Background
The satellite adopts air injection control when performing orbit rising, orbit falling, orbit inclination angle adjustment and large-angle rapid attitude maneuver, and fuel is consumed. According to the international space law, for a satellite with limited orbital resources, the end of its life requires an off-orbit operation and a certain amount of fuel is consumed. Satellite fuel remaining quantity measurement is an important work of on-orbit management, and is concerned with satellite life evaluation and selection of off-orbit timing. However, the fuel carried by the general satellite is limited and non-renewable, and if the fuel is accidentally leaked out of the country and is not disposed in time, disastrous results can be caused. Therefore, it is important to know the residual quantity of fuel carried by the satellite in real time.
Currently, the methods for measuring the residual quantity of the satellite liquid fuel are widely applied to a thin notation method and a PVT method (pressure-volume-temperature method).
The method comprises the steps of firstly calculating the flow of the propellant according to the telemetering parameters and the ground calibration data, and then accumulating the working time of the thruster to obtain the consumption of the propellant. The method is simple, but needs to be based on ground experimental data and on-orbit historical data, needs more manual participation, has accumulated errors due to repeated superposition, and is poor in instantaneity, autonomy and measurement accuracy.
The PVT method is characterized in that according to gas pressure and temperature telemetering data in a fuel storage tank on a satellite, the gas volume in the storage tank is calculated on the ground by using a gas state equation, and then the fuel volume and mass in the tank are calculated according to the total volume of the storage tank and the liquid density. The method can measure the total fuel residual amount without accumulated error, but the method is still based on original telemetering data such as pressure, temperature and the like of a storage tank transmitted by a satellite, needs to be completed under the participation of ground personnel and a monitoring system, is poor in autonomy and real-time performance, and is not beneficial to timely control when fuel is abnormally leaked.
Disclosure of Invention
The technical problem solved by the invention is as follows: the in-orbit analysis and real-time control system for the satellite fuel surplus overcomes the defects of the prior art, and provides the in-orbit real-time autonomous calculation and control system for the satellite fuel surplus, so that in-orbit analysis of the satellite fuel surplus is realized, and the fuel use condition is controlled in real time.
The technical scheme of the invention is as follows:
a satellite fuel allowance on-orbit real-time autonomous calculation and control system comprises an intelligent calculation unit, 3 temperature sensors, a pressure sensor, a storage tank valve, a temperature measurement unit, a pressure measurement unit and a valve control unit; the intelligent computing unit is respectively communicated with the temperature measuring unit, the pressure measuring unit and the valve control unit through a CAN bus;
3 temperature sensors: the measurement of the temperature of the fuel storage tank is realized, and the measured data of the temperature of the fuel storage tank is sent to a temperature measuring unit:
a temperature measuring unit: receiving fuel storage tank temperature measurement data transmitted by 3 temperature sensors, calculating an average value T of the fuel storage tank temperature measurement data, and transmitting the average value T of the fuel storage tank temperature measurement data to an intelligent calculation unit;
a pressure sensor: the pressure measurement P of the fuel storage tank is realized, and the pressure measurement data P of the fuel storage tank is sent to the intelligent calculation unit through the pressure measurement unit;
the intelligent computing unit: receiving the average value T of the fuel storage tank temperature measurement data transmitted by the temperature measurement unit; receiving fuel tank pressure measurement data P transmitted by a pressure measurement unit; and calculating the fuel allowance M in real time according to the stored priori known data, analyzing the fuel consumption condition, and sending a valve closing instruction to the valve control unit to close the valve of the storage tank when the fuel consumption alarm threshold is reached.
In the above satellite fuel residue on-orbit real-time autonomous calculation and control system, the 3 temperature sensors are respectively arranged at the top, the middle and the bottom of the satellite storage tank.
In the above satellite fuel residue on-orbit real-time autonomous calculation and control system, the intelligent calculation unit includes a priori knowledge data storage module, an on-board data collection module, a fuel autonomous calculation module and an analysis decision module;
the first known data storage module: total volume V of storage fuel tankTAir cushion volume V of tank measured after ground refueling0Pressure P0Temperature T0(ii) a And the total volume V of the fuel storage tankTAir cushion volume V of tank measured after ground refueling0Pressure P0Temperature T0Sending the data to a fuel autonomous calculation module;
the on-board data collection module: receiving the average value T of the fuel storage tank temperature measurement data transmitted by the temperature measurement unit; receiving fuel tank pressure measurement data P transmitted by a pressure measurement unit; sending the average value T of the fuel storage tank temperature measurement data and the fuel storage tank pressure measurement data P to the fuel autonomous calculation module;
a fuel autonomous calculation module: receiving a total volume V of the fuel tank from the preemptive data storage moduleTAir cushion volume V of tank measured after ground refueling0Pressure P0Temperature T0(ii) a Receiving the average value T of the fuel storage tank temperature measurement data and the fuel storage tank pressure measurement data P transmitted by the on-satellite data collection module; calculating fuel density rho according to the average value T of the temperature measurement data of the fuel storage tank; according to fuel density rho and total volume V of fuel tankTAir cushion volume V of storage tank0Pressure P0Temperature T0Calculating the fuel surplus M according to the average value T of the fuel storage tank temperature measurement data and the fuel storage tank pressure measurement data P; sending the residual fuel quantity M to an analysis decision module;
an analysis decision module: receiving the fuel surplus M transmitted by the fuel autonomous calculation module, and judging whether the fuel consumption reaches an alarm threshold; and when the fuel consumption alarm threshold is reached, sending a valve closing instruction to the valve control unit.
In the above fuel autonomous calculation module, the method for calculating the average value T of the measured fuel tank temperature data is as follows:
in the formula, T1、T2、T3The in-orbit temperature of the satellite tank measured for the 3 temperature sensors.
In the analysis decision module, the setting method of the fuel consumption alarm threshold comprises the following steps: the method for calculating the fuel density rho by the fuel autonomous calculation module comprises the following steps:
ρ＝ρ1-ρ2×T
in the formula, ρ1、ρ2The calibration coefficients are calibration coefficients between the fuel density and the temperature, are bound with the fuel property, are fixed values, and are known data.
In the analysis decision module, the setting method of the fuel consumption alarm threshold comprises the following steps: the method for calculating the fuel residual quantity M comprises the following steps:
in the analysis decision module, the setting method of the fuel consumption alarm threshold comprises the following steps: in order to improve the calculation precision, a floating point type parameter is used for storing the fuel residual quantity value in a satellite-borne computer, and the parameter is put into a satellite telemetering data frame and is downloaded to the ground in real time as a telemetering parameter.
In the analysis decision module, the setting method of the fuel consumption alarm threshold comprises the following steps: the method for judging whether the fuel consumption reaches the alarm threshold comprises the following steps:
analyzing the fuel consumption rate and the fuel remaining duration decreasing time:
recording the current second as N, and setting the fuel allowance of the current second N as MN，MN-1-MN、MN-2-MN-1、MN-3-MN-2Fuel consumption amounts of the current second, the previous second and the previous two seconds are respectively;
when min (M)N-1-MN，MN-1-MN，MN-1-MN)≥DmaxJudging that the fuel consumption reaches an alarm threshold; wherein D ismaxThe maximum rate of normal fuel consumption is known data.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the method, the fuel allowance calculation after the satellite is in orbit is realized without the participation of ground personnel and software, the satellite can calculate automatically, and manpower and material resources are saved;
(2) the invention adopts the on-board intelligent computing unit to carry out real-time computing, so that the real-time performance is better;
(3) the invention analyzes the residual fuel data on the satellite in real time, and can control the fuel use condition in time;
(4) the four modules contained in the intelligent computing unit are software modules, and can be realized by selecting a certain computer on the satellite to expand the software function, so that no additional hardware resource is added, and the weight and the power consumption of the satellite are not influenced.
Drawings
FIG. 1 is a schematic diagram of an on-orbit real-time autonomous calculation and control system for fuel residue of a satellite according to the present invention.
Detailed Description
The invention is further illustrated by the following examples.
The invention provides an on-orbit real-time autonomous calculation and control system for satellite fuel surplus, which is used for carrying out on-orbit analysis on the satellite fuel surplus and controlling the fuel use condition in real time.
The satellite fuel allowance on-orbit real-time autonomous calculation and control system comprises an intelligent calculation unit, 3 temperature sensors, a pressure sensor, a storage tank valve, a temperature measurement unit, a pressure measurement unit and a valve control unit, wherein the intelligent calculation unit is shown in figure 1; the intelligent computing unit is respectively communicated with the temperature measuring unit, the pressure measuring unit and the valve control unit through a CAN bus; the 3 temperature sensors are respectively arranged at the top, the middle and the bottom of the satellite storage box.
3 temperature sensors: and measuring the temperature of the fuel storage tank and sending the measured data of the temperature of the fuel storage tank to the temperature measuring unit.
A temperature measuring unit: receiving fuel storage tank temperature measurement data transmitted by 3 temperature sensors, calculating an average value T of the fuel storage tank temperature measurement data, and transmitting the average value T of the fuel storage tank temperature measurement data to an intelligent calculation unit; the method for calculating the average value T of the measured temperature data of the fuel storage tank comprises the following steps:
in the formula, T1、T2、T3The in-orbit temperature of the satellite tank measured for the 3 temperature sensors.
In the formula, T1Is calculated as follows, T2，T3The calculation method is the same.
Wherein, a, b, c: the coefficient of the thermistor is a fixed value and is known data;
Rt: the resistance value of the thermistor is in omega;
Rtis derived from the following formula:
in the formula, Vref: the temperature measurement reference voltage of the satellite temperature measurement unit is in a unit V;
V1: and the voltage difference value of the two ends of the thermistor, which is measured by the onboard temperature measuring unit, is in unit V.
A pressure sensor: and measuring the pressure P of the fuel storage tank is realized, and the pressure measurement data P of the fuel storage tank is sent to the intelligent calculation unit through the pressure measurement unit. Firstly, a pressure sensor arranged in a storage tank is used for measuring a voltage value corresponding to pressure, and the voltage value is recorded as V2In V, and then the tank on-rail pressure is calculated by the pressure measurement unit using the following equation.
P＝P1×V2-P2
In the formula, P1,P2The calibration coefficient between the pressure and the voltage of the storage tank is a fixed value and is known data.
The intelligent computing unit: receiving the average value T of the fuel storage tank temperature measurement data transmitted by the temperature measurement unit; receiving fuel tank pressure measurement data P transmitted by a pressure measurement unit; and calculating the fuel allowance M in real time according to the stored priori known data, analyzing the fuel consumption condition, and sending a valve closing instruction to the valve control unit to close the valve of the storage tank when the fuel consumption alarm threshold is reached.
The intelligent computing unit comprises a priori knowledge data storage module, an on-satellite data collection module, a fuel autonomous computing module and an analysis decision module:
the first known data storage module: total volume V of storage fuel tankTAir cushion volume V of tank measured after ground refueling0Pressure P0Temperature T0(ii) a And the total volume V of the fuel storage tankTAir cushion volume V of tank measured after ground refueling0Pressure P0Temperature T0And sending the data to a fuel autonomous calculation module.
The on-board data collection module: receiving the average value T of the fuel storage tank temperature measurement data transmitted by the temperature measurement unit; receiving fuel tank pressure measurement data P transmitted by a pressure measurement unit; and sending the fuel storage tank temperature measurement data average value T and the fuel storage tank pressure measurement data P to the fuel autonomous calculation module.
A fuel autonomous calculation module: receiving a total volume V of the fuel tank from the preemptive data storage moduleTAir cushion volume V of tank measured after ground refueling0Pressure P0Temperature T0(ii) a Receiving the average value T of the fuel storage tank temperature measurement data and the fuel storage tank pressure measurement data P transmitted by the on-satellite data collection module; calculating fuel density rho according to the average value T of the temperature measurement data of the fuel storage tank; the method for calculating the fuel density rho by the fuel autonomous calculation module comprises the following steps:
ρ＝ρ1-ρ2×T
in the formula, ρ1、ρ2The calibration coefficients are calibration coefficients between the fuel density and the temperature, are bound with the fuel property, are fixed values, and are known data.
According to fuel density rho and total volume V of fuel tankTAir cushion volume V of storage tank0Pressure P0Temperature T0Calculating the fuel surplus M according to the average value T of the fuel storage tank temperature measurement data and the fuel storage tank pressure measurement data P; method for calculating remaining fuel amount MComprises the following steps:
in the formula, M: residual fuel amount in kg;
ρ: density of fuel in kg/m3；
VT: total volume of tank, unit m3；
V0: air cushion volume in m after filling storage tank3；
P0，T0: after filling, the pressure and the temperature in the storage tank are respectively in units of MPa and K;
p, T: the pressure and the temperature of the storage tank on the rail are respectively in units of MPa and K.
In order to improve the calculation precision, a floating point type parameter is used for storing the fuel residual quantity value in a satellite-borne computer, and the parameter is put into a satellite telemetering data frame and is downloaded to the ground in real time as a telemetering parameter.
And sends the remaining amount of fuel M to an analysis decision module.
An analysis decision module: receiving the fuel surplus M transmitted by the fuel autonomous calculation module, and judging whether the fuel consumption reaches an alarm threshold; and when the fuel consumption alarm threshold is reached, sending a valve closing instruction to the valve control unit.
The fuel consumption is analyzed by an analysis decision module based on the real-time calculation condition of the fuel, and mainly the fuel consumption rate and the fuel allowance continuous reduction time are analyzed.
The method for judging whether the fuel consumption reaches the alarm threshold comprises the following steps:
analyzing the fuel consumption rate and the fuel remaining duration decreasing time:
recording the current second as N, and setting the fuel allowance of the current second N as MN，MN-1-MN、MN-2-MN-1、MN-3-MN-2Fuel consumption amounts of the current second, the previous second and the previous two seconds are respectively;
the condition for judging that the fuel consumption alarm threshold is reached is as follows:
min(MN-1-MN，MN-1-MN，MN-1-MN)≥Dmax，Dmaxthe maximum rate of normal fuel consumption is known data;
in addition, the fuel consumption alarm threshold is judged to be reached according to the following condition that S is more than or equal to Smax，SmaxThe maximum duration for normal fuel consumption is the first known data.
If the fuel consumption alarm threshold is reached, the analysis decision module sends a valve closing instruction to the valve control unit through the CAN bus, and the valve is closed by the valve control unit to prevent the fuel from being continuously consumed abnormally.
The invention obtains the total volume V of the storage tank by the ground measurement before satellite launchingTAir cushion volume V of storage tank after fuel filling0Pressure P0Temperature T0The upper note is added to the intelligent computing unit; after the satellite operates in orbit, the temperature measuring unit, the temperature sensor, the pressure measuring unit and the pressure sensor are used for measuring and calculating the temperature T and the pressure P of the storage tank, and the temperature T and the pressure P are transmitted to the intelligent calculating unit through the CAN bus; the intelligent calculation unit calculates fuel density rho by using the on-rail temperature T of the storage tank, and calculates the residual quantity M of the fuel in the storage tank based on a gas state equation based on the data of the temperature T, the pressure P and the fuel density rho of the storage tank which are measured and calculated in real time on the rail; the intelligent computing unit analyzes the fuel consumption rate and the fuel continuous consumption time of the fuel surplus M, and sends a valve closing instruction to the valve control unit after meeting the fuel consumption alarm threshold.
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 (8)
1. A satellite fuel allowance on-orbit real-time autonomous calculation and control system is characterized in that: the system comprises an intelligent calculation unit, 3 temperature sensors, a pressure sensor, a storage tank valve, a temperature measurement unit, a pressure measurement unit and a valve control unit; the intelligent computing unit is respectively communicated with the temperature measuring unit, the pressure measuring unit and the valve control unit through a CAN bus;
3 temperature sensors: the measurement of the temperature of the fuel storage tank is realized, and the measured data of the temperature of the fuel storage tank is sent to a temperature measuring unit:
a temperature measuring unit: receiving fuel storage tank temperature measurement data transmitted by 3 temperature sensors, calculating an average value T of the fuel storage tank temperature measurement data, and transmitting the average value T of the fuel storage tank temperature measurement data to an intelligent calculation unit;
a pressure sensor: the pressure measurement P of the fuel storage tank is realized, and the pressure measurement data P of the fuel storage tank is sent to the intelligent calculation unit through the pressure measurement unit;
the intelligent computing unit: receiving the average value T of the fuel storage tank temperature measurement data transmitted by the temperature measurement unit; receiving fuel tank pressure measurement data P transmitted by a pressure measurement unit; and calculating the fuel allowance M in real time according to the stored priori known data, analyzing the fuel consumption condition, and sending a valve closing instruction to the valve control unit to close the valve of the storage tank when the fuel consumption alarm threshold is reached.
2. The on-orbit real-time autonomous calculation and control system of a satellite fuel margin according to claim 1, characterized in that: the 3 temperature sensors are respectively arranged at the top, the middle and the bottom of the satellite storage box.
3. The on-orbit real-time autonomous calculation and control system of a satellite fuel margin according to claim 2, characterized in that: the intelligent computing unit comprises a priori knowledge data storage module, an on-satellite data collection module, a fuel autonomous computing module and an analysis decision module;
the first known data storage module: total volume V of storage fuel tankTAir cushion volume V of tank measured after ground refueling0Pressure P0Temperature T0(ii) a And the total volume V of the fuel storage tankTAir cushion volume V of tank measured after ground refueling0Pressure P0Temperature T0Sending the data to a fuel autonomous calculation module;
the on-board data collection module: receiving the average value T of the fuel storage tank temperature measurement data transmitted by the temperature measurement unit; receiving fuel tank pressure measurement data P transmitted by a pressure measurement unit; sending the average value T of the fuel storage tank temperature measurement data and the fuel storage tank pressure measurement data P to the fuel autonomous calculation module;
a fuel autonomous calculation module: receiving a total volume V of the fuel tank from the preemptive data storage moduleTAir cushion volume V of tank measured after ground refueling0Pressure P0Temperature T0(ii) a Receiving the average value T of the fuel storage tank temperature measurement data and the fuel storage tank pressure measurement data P transmitted by the on-satellite data collection module; calculating fuel density rho according to the average value T of the temperature measurement data of the fuel storage tank; according to fuel density rho and total volume V of fuel tankTAir cushion volume V of storage tank0Pressure P0Temperature T0Calculating the fuel surplus M according to the average value T of the fuel storage tank temperature measurement data and the fuel storage tank pressure measurement data P; sending the residual fuel quantity M to an analysis decision module;
an analysis decision module: receiving the fuel surplus M transmitted by the fuel autonomous calculation module, and judging whether the fuel consumption reaches an alarm threshold; and when the fuel consumption alarm threshold is reached, sending a valve closing instruction to the valve control unit.
4. The fuel autonomous computation module of claim 3, characterized in that: the method for calculating the average value T of the measured data of the temperature of the fuel storage tank comprises the following steps:
in the formula, T1、T2、T3The in-orbit temperature of the satellite tank measured for the 3 temperature sensors.
5. The analytical decision module according to claim 4, wherein: the setting method of the fuel consumption alarm threshold comprises the following steps: the method for calculating the fuel density rho by the fuel autonomous calculation module comprises the following steps:
ρ＝ρ1-ρ2×T
in the formula, ρ1、ρ2The calibration coefficients are calibration coefficients between the fuel density and the temperature, are bound with the fuel property, are fixed values, and are known data.
6. The analytical decision module according to claim 5, wherein: the setting method of the fuel consumption alarm threshold comprises the following steps: the method for calculating the fuel residual quantity M comprises the following steps:
7. the analytical decision module according to claim 6, wherein: the setting method of the fuel consumption alarm threshold comprises the following steps: in order to improve the calculation precision, a floating point type parameter is used for storing the fuel residual quantity value in a satellite-borne computer, and the parameter is put into a satellite telemetering data frame and is downloaded to the ground in real time as a telemetering parameter.
8. The analytical decision module according to claim 7, wherein: the setting method of the fuel consumption alarm threshold comprises the following steps: the method for judging whether the fuel consumption reaches the alarm threshold comprises the following steps:
analyzing the fuel consumption rate and the fuel remaining duration decreasing time:
recording the current second as N, and setting the fuel allowance of the current second N as MN，MN-1-MN、MN-2-MN-1、MN-3-MN-2Fuel consumption amounts of the current second, the previous second and the previous two seconds are respectively;
when min (M)N-1-MN，MN-1-MN，MN-1-MN)≥DmaxJudging that the fuel consumption reaches an alarm threshold; wherein D ismaxThe maximum rate of normal fuel consumption is known data.
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Application publication date: 20220325 |