CN116198749B - Space material exposure experiment control system and method - Google Patents

Space material exposure experiment control system and method Download PDF

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Publication number
CN116198749B
CN116198749B CN202310500246.4A CN202310500246A CN116198749B CN 116198749 B CN116198749 B CN 116198749B CN 202310500246 A CN202310500246 A CN 202310500246A CN 116198749 B CN116198749 B CN 116198749B
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control system
main control
material exposure
space material
function module
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CN116198749A (en
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安美珍
王珂
李喆
任庆庆
王绍坤
吕宏宇
凡炼文
陈曦
袁野
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Technology and Engineering Center for Space Utilization of CAS
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Technology and Engineering Center for Space Utilization of CAS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G4/00—Tools specially adapted for use in space
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Testing Resistance To Weather, Investigating Materials By Mechanical Methods (AREA)
  • Investigating Or Analyzing Materials Using Thermal Means (AREA)

Abstract

The invention provides a space material exposure experiment control system and a space material exposure experiment control method. The space material exposure experiment control system comprises: the system comprises a main control system, a motion system, an image acquisition system and a heat preservation system. The space material exposure experiment control system and the space material exposure experiment control method can control space materials and scientific equipment to perform experiments on orbit, collect experimental photos and experimental data in real time and transmit the experimental photos and the experimental data back to a ground station, can provide a safe and reliable on-orbit experiment control technology for space material exposure experiments in China, provide technical support for space material on-orbit data analysis and on-orbit real-time observation, and lay a foundation for research and development of space materials.

Description

Space material exposure experiment control system and method
Technical Field
The invention belongs to the technical field of equipment control, and particularly relates to a space material exposure experiment control system and method.
Background
The space material exposure experiment is an important component of space experiment research and space detection, and is convenient for analysis by carrying out on-orbit observation, state data monitoring and transmission on the evolution of space exposure materials, material radiation influence and the like. At present, for the existing return type satellite, the Shenzhou manned spacecraft and the like, the space material sample is required to be brought back to the ground and then analyzed, so that the space material sample and experimental equipment data are required to be separated for a long time from on-orbit data to sample ground analysis, and the space material sample and the space material exposure experimental equipment data cannot be observed in time, so that screening and evaluation of the space material sample are not facilitated.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides a space material exposure experiment control system and a space material exposure experiment control method, which can effectively solve the problems.
The technical scheme adopted by the invention is as follows:
the invention provides a space material exposure experiment control system, which is carried in an on-orbit spacecraft, and is transported from the inside of the spacecraft to the outside of the spacecraft by a mechanical arm, and can perform experiment control on space material exposure experiment equipment and experiment samples in the inside and the outside of the spacecraft, and comprises: the system comprises a main control system, a motion system, an image acquisition system and a heat preservation system;
The main control system is respectively connected with the motion system, the image acquisition system and the heat preservation system, and the main control system comprises: interface communication function module, external equipment power supply and distribution management function module, drive control function module, image acquisition control function module, on-orbit binding parameter function module, health monitoring and fault handling function module, state monitoring function module, heat preservation control function module, on-orbit upgrading function module and timing refreshing function module.
Preferably, the external device power supply and distribution management function module is configured to provide 15 paths of 28V power supply management and control, and includes: working voltage, current and temperature are collected, overcurrent protection function is provided, and 28V power supply access of 5 space material exposure experimental equipment, 8 heating plates of a heat preservation system and a driving control circuit of a motion system is supported.
Preferably, the main control system is connected with the upper platform and the mechanical arm through interface communication function modules respectively;
the interface communication function module is provided with a 3-way communication interface, wherein the 1 st-way communication interface is a 1553B interface, the 2 nd-way communication interface is an FC-AE-1553 interface, and the 3 rd-way communication interface is a 1553B interface; the 1 st path communication interface and the 3 rd path communication interface are two interfaces which work independently;
The 1 st path communication interface realizes the bidirectional data communication of the master control system and the mechanical arm in the transfer process of the mechanical arm, and specifically comprises the following steps: the mechanical arm uploads a heat preservation control instruction sent by a ground station to the main control system through the 1 st path communication interface, and the main control system controls the heating plate appointed by the heat preservation system to work; the main control system reports on-orbit working state data to the mechanical arm through the 1 st path communication interface; the main control system realizes heat preservation control and data communication of the space material exposure platform in the transfer process of the mechanical arm through the 1 st path communication interface;
after the transfer of the mechanical arm is finished, the 2 nd path of communication interface and the 3 rd path of communication interface jointly realize the two-way data communication of the main control system and the upper platform, and specifically comprise: the upper platform uploads an instruction sent by the ground station to the main control system through the 2 nd path communication interface and the 3 rd path communication interface for data analysis and processing; the main control system packs the on-orbit experimental data and reports the packed data to the upper platform through the 2 nd path communication interface and the 3 rd path communication interface;
The 3 rd communication interface is an instruction receiving main channel, and the 2 nd communication interface is an instruction receiving backup channel; and the instruction receiving main channel and the instruction receiving backup channel are used for simultaneously transmitting the data packet of the main control system to the upper platform, and the upper platform is used for transmitting the data packet to the ground station so as to improve the reliability of data downlink.
Preferably, the motion system comprises a space material exposure platform motion system, an optical camera motion system and an optical camera focusing system; the space material exposure platform movement system is used for controlling the expansion and contraction of two experimental exposure areas of the space material exposure platform; the optical camera motion system is used for driving the optical camera to perform three-dimensional motion control on an X axis, a Y axis and a Z axis, so that the optical camera is operated to a sample area to be observed; the optical camera focusing system enables the optical camera to perform focusing movement control;
the driving control function module is used for realizing driving control of the multipath motor; the main control system monitors the running time, the running stroke and the moving in-place state of each path of motor through the driving control functional module, and if the motor does not run to a designated stroke position or a designated in-place state within the running time threshold set by the binding parameters, the motor is automatically controlled to stop moving; the running time threshold value of each motor supports on-track updating through an on-track binding parameter functional module, and the safety of motor driving control is improved.
Preferably, the image acquisition system is used for receiving, analyzing, processing and responding to an upper platform instruction forwarded by the main control system, carrying out image acquisition on a material sample in a sample area to be observed, uploading acquired material sample picture data to the main control system, and downloading the acquired material sample picture data to a ground station through the interface communication function module and the upper platform by the main control system;
the image acquisition system receives, analyzes, responds to and processes the instruction sent by the main control system through an RS422 interface; exposing and photographing a material sample picture of a sample area to be observed, and feeding back an optimal focusing result to the main control system; sending collected material sample picture data to a main control system through an LVDS interface;
the image acquisition control function module is used for controlling the image acquisition system, and comprises the following components: the image acquisition control function module receives a manual focusing instruction or an automatic focusing instruction from a ground station forwarded by an upper platform, so as to realize focusing control of the image acquisition system; if the manual focusing instruction is adopted, the main control system performs single focusing control on the image acquisition system; if the automatic focusing command is the automatic focusing command, the main control system circularly and automatically forwards the automatic focusing command to the image acquisition system, and the image acquisition system is subjected to focusing control at intervals of 4s circularly until the main control system receives an optimal focusing result of the image acquisition system; the main control system eliminates the interference of motor focusing jitter on image data acquisition through delay 4s, and the image acquisition system feeds back a focusing result to the main control system to finish focusing of the image acquisition system; the manual focusing instruction is a backup function of the automatic focusing instruction, and defaults to the automatic focusing instruction.
Preferably, the state monitoring function module is used for monitoring the working state, communication state, working voltage, current, temperature, motor running state, motor movement position and motor movement in-place state of the space material exposure experimental equipment and the main control system, updating the packet by the main control system, and then descending to the ground station, wherein the descending rate of the data packet is 2048 bytes/second at the maximum.
Preferably, the on-orbit upgrade function module is configured to: and the main control program running on the main control system is updated in an on-orbit upgrading mode according to the change of the requirement of the space material exposure experimental equipment, so that the supporting capacity of the main control software on the space material exposure experimental equipment is improved.
Preferably, the timing refresh function module is configured to: in the running process of the main control system, periodically refreshing and checking a main control program running in the main control system at regular time, and downloading a checking result to a ground station through an upper platform to improve the reliability of the system; and periodically refreshing a main control program operated by the main control system to prevent the influence of space irradiation on the main control program.
Preferably, the heat preservation system is used for collecting the working temperature of the space material exposure experimental equipment and controlling the heat preservation in an on-orbit manner;
Specifically, the main control system controls the heating plate of the heat preservation system to work according to the requirement of the working temperature set by the space material exposure experimental equipment, so that the environment temperature of the space material exposure experimental equipment in the backlight area is increased to the temperature required by the work, the on-orbit working temperature configuration range is [ -25,60] DEGC, and the on-orbit binding parameter function module is used for realizing configuration;
when the heating plate of the heat preservation system is controlled, the health monitoring and fault handling functional module of the main control system monitors the environmental temperature of the space material exposure experimental equipment and the sample, and if the temperature exceeds the set threshold value of the binding parameter, the heating plate of the heat preservation system is automatically closed, so that the safety of the heat preservation system is improved; when the motion system is driven and controlled, the main control system realizes 3 health state monitoring and fault prompting of the running time, the motion travel and the motion in-place state of the motor through the health monitoring and fault disposing function module, so that the ground station can observe and dispose on the track conveniently, and the safety of the motion system is improved.
The invention also provides a method for controlling the space material exposure experiment system, which comprises the following steps:
Step 1, configuring a plurality of space material exposure experimental devices by an on-orbit spacecraft, wherein the space material exposure experimental devices are provided with space material exposure platforms, and the space material exposure platforms are provided with sample areas to be observed for placing material samples; the space material exposure platform is provided with a main control system, a heat preservation system, an image acquisition system and a motion system;
step 2, in the mechanical arm transferring process, the main control system receives a ground station instruction forwarded by the mechanical arm through the interface communication functional module, so that the thermal insulation control of the spatial material exposure platform in the mechanical arm transferring process is realized, and the working temperature of spatial material exposure experimental equipment reaches the working temperature requirement specified by the binding parameters; simultaneously, the main control system feeds back the state data of the control system to the ground station through the mechanical arm by the interface communication function module;
after the space material exposure platform is transported, the main control system receives the ground station instruction forwarded by the upper layer platform through the interface communication function module and controls the related system to work, and the method specifically comprises the following steps of;
the main control system controls 2 motors of the motion system of the space material exposure platform according to the driving control instruction, controls the space material exposure platform to perform unfolding action, and starts exposure experiments of the space material;
Step 3, the main control system controls motors in the X axis, Y axis and Z axis directions of the motion system according to the driving control instruction sent by the ground station, and drives the image acquisition system to move to a photographing observation area of the appointed sample;
then, an image acquisition functional module of the main control system receives an optical camera focusing instruction from the ground station through an interface communication functional module; the image acquisition functional module of the main control system controls a focusing motor of the motion system to perform focusing control on an optical camera lens according to an optical camera focusing instruction, and sends an optimal focusing result to the ground station;
step 4, the main control system receives a material sample image photographing instruction from the ground station through the interface communication function module, and performs photographing control on the optical camera, so that the optical camera acquires material sample picture data of a material sample in a sample area to be observed in the current environment, and simultaneously records current environment parameters and an acquisition time stamp;
the main control system forms a data packet from the collected material sample picture data, the current environmental parameters and the collection time stamp, and sends the data packet to the ground station through the interface communication function module;
step 5, the main control system sends a working instruction from a ground station to the space material exposure experimental equipment through a 5-path RS422 interface of the interface communication functional module, and controls the space material exposure experimental equipment to work;
Step 6, the main control system refreshes and checks the internal software of the main control system every 30 min+/-1 min in the power-on life cycle, so that the reliability of the software is improved;
step 7, the main control system updates on-orbit data in real time every 1000 ms+/-100 ms, and sends the data to the upper platform after being packaged by the interface communication functional module, wherein the data of the on-orbit experiment comprise the temperature of the heat preservation system, the running state of a motor of the motion system, the state of the image acquisition system, the running state of software of the main control system, the power supply and distribution state, the communication interface state, the refreshing state and the health state, and the on-orbit experiment data and the on-orbit working state of the space material exposure experiment equipment;
step 8, the main control system monitors the working temperature of the heat preservation system and the running state of a motor of the motion system in the power-on life cycle, and if the working fault of a heating plate of the heat preservation system can not be heated, the main control system carries out health alarm prompt; if the motor movement stroke and the running time of the movement system exceed the time threshold set by the binding parameters and still do not move in place, health alarm prompt is carried out; if the heating sheet of the heat preservation system exceeds the temperature threshold set by the binding parameter, automatically turning off the heating sheet, and feeding back the treatment result through the health status word; carrying out health state word polling prompt on a plurality of health alarm prompt messages;
And 9, when the main control system runs on the track, software upgrading is carried out according to the change of the requirement of the space material exposure experimental equipment, and the on-track adaptability and the supporting capacity of the main control system are improved.
The space material exposure experiment control system and method provided by the invention have the following advantages:
the space material exposure experiment control system and the space material exposure experiment control method can perform on-orbit experiments on space flight exposure materials, collect photos and data in the experimental process in real time and transmit the photos and the data back to the ground station, can provide safe and reliable control technology for the space material exposure experiments, and provide technical support for analysis of on-orbit experiment data of space material exposure samples and space material exposure experiment equipment and observation of on-orbit real-time pictures.
Drawings
FIG. 1 is a schematic diagram of a control system for space material exposure experiments;
fig. 2 is a schematic diagram of a functional module of the spatial material exposure experiment master control system provided by the invention.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects solved by the invention more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention provides a space material exposure experiment control system which can support space materials and space material exposure experiment equipment to carry out on-orbit experiments, and material sample picture data in the experimental process are collected in real time and transmitted back to a ground station, so that the ground station can timely obtain state data and image data of the space materials and space environment effects, and a direction is provided for manufacturing and improving the space materials. The invention can make up the space for carrying out exposure experiments, state monitoring, on-orbit experiment control, experimental data and image data acquisition on the space material on orbit.
Referring to fig. 1, the space material exposure experiment control system provided by the invention is carried in an on-orbit spacecraft, and is transported from the inside of the spacecraft to the outside of the spacecraft by a mechanical arm, and can perform experiment control on space material exposure experiment equipment and experiment samples in the inside and the outside of the spacecraft. The space material exposure experiment control system comprises: the system comprises a main control system, a motion system, an image acquisition system and a heat preservation system;
the main control system is respectively connected with the motion system, the image acquisition system and the heat preservation system.
Referring to fig. 2, the functional modules of the master control system include: interface communication function module, external equipment power supply and distribution management function module, drive control function module, image acquisition control function module, on-orbit binding parameter function module, health monitoring and fault handling function module, state monitoring function module, heat preservation control function module, on-orbit upgrading function module and timing refreshing function module.
The following details the main systems and modules:
(1) Exercise system
The motion system comprises a space material exposure platform motion system, an optical camera motion system and an optical camera focusing system; the space material exposure platform movement system is used for controlling the expansion and contraction of two experimental exposure areas of the space material exposure platform; after the space material exposing platform is unfolded, an exposing experiment of a space material sample is started; after the space material exposing platform is folded, ending the exposing experiment of the space material sample; the optical camera motion system is used for controlling the motion of the optical camera, so that the optical camera can be operated to a sample area to be observed, and the optical camera motion system specifically comprises: driving the optical camera to perform three-dimensional motion control on an X axis, a Y axis and a Z axis, so that the optical camera operates to a sample area to be observed; the optical camera focusing system is used for controlling focusing movement of the optical camera;
The motion system specifically comprises a plurality of motors; for example, the optical camera motion system is configured with 3-directional motors, 2 motors of the spatial material exposure stage motion system, 1 focus motor of the image acquisition system.
(2) Image acquisition system
The image acquisition system is used for receiving, analyzing, processing and responding to the forwarding of the main control system
A layer platform instruction, and carrying out image acquisition on a material sample in a sample area to be observed, uploading acquired material sample picture data to the main control system, and downloading the acquired material sample picture data to a ground station through the interface communication functional module and the upper layer platform by the main control system;
the image acquisition system receives, analyzes, responds to and processes the instruction sent by the main control system through an RS422 interface; exposing and photographing a material sample picture of a sample area to be observed, and feeding back an optimal focusing result to the main control system; sending collected material sample picture data to a main control system through an LVDS interface;
(3) Thermal insulation system
The heat preservation system is used for collecting the working temperature of the space material exposure experimental equipment and controlling the heat preservation in an on-orbit manner;
Specifically, the main control system controls the heating plate of the heat preservation system to work according to the requirement of the working temperature set by the space material exposure experimental equipment, so that the environment temperature of the space material exposure experimental equipment in the backlight area is increased to the temperature required by the work, the on-orbit working temperature configuration range is [ -25,60] DEGC, and the on-orbit binding parameter function module is used for realizing configuration;
(4) Master control system
In the invention, a main control system adopts a CPU+FPGA control mode and adopts an NOR FLASH storage technology to realize the storage of 3 parts of CPU running codes and 2 parts of FPGA running codes, wherein each part of codes has 2 storage areas and a total of 6 code storage areas; thus, the host system software is able to automatically launch the operational control program of the host system from the designated operational code region. The specific functional modules of the main control system are as follows:
(4.1) Power supply and distribution management function Module for external Equipment
An external device power supply and distribution management function module for providing 15 paths of 28V power supply management and control, comprising: the working voltage, current, temperature and the like are subjected to state acquisition, an overcurrent protection function is provided, and meanwhile, 5 space material exposure experimental devices, 8 heating plates of a heat preservation system and 28V power supply access of a driving control circuit of a motion system are supported.
(4.2) interface communication function Module
The interface communication function module is provided with a 3-way communication interface, wherein the 1 st-way communication interface is a 1553B interface, the 2 nd-way communication interface is an FC-AE-1553 interface, and the 3 rd-way communication interface is a 1553B interface; the 1 st path communication interface and the 3 rd path communication interface are two interfaces which work independently;
the 1 st path communication interface realizes the bidirectional data communication of the master control system and the mechanical arm in the transfer process of the mechanical arm, and specifically comprises the following steps: the mechanical arm uploads a heat preservation control instruction sent by a ground station to the main control system through the 1 st path communication interface, and the main control system controls the heating plate appointed by the heat preservation system to work; the main control system reports on-orbit working state data to the mechanical arm through the 1 st path communication interface; the main control system realizes heat preservation control and data communication of the space material exposure platform in the transfer process of the mechanical arm through the 1 st path communication interface;
after the transfer of the mechanical arm is finished, the 2 nd path of communication interface and the 3 rd path of communication interface jointly realize the two-way data communication of the main control system and the upper platform, and specifically comprise: the upper platform uploads an instruction sent by the ground station to the main control system through the 2 nd path communication interface and the 3 rd path communication interface for data analysis and processing; the main control system packs the on-orbit experimental data and reports the packed data to the upper platform through the 2 nd path communication interface and the 3 rd path communication interface;
The 3 rd communication interface is an instruction receiving main channel, and the 2 nd communication interface is an instruction receiving backup channel; and the instruction receiving main channel and the instruction receiving backup channel are used for simultaneously transmitting the data packet of the main control system to the upper platform, and the upper platform is used for transmitting the data packet to the ground station so as to improve the reliability of data downlink. The two channels simultaneously perform data downlink: the downstream data packet rate of the 2 nd communication interface is 20480 bytes/second, and the downstream data packet rate of the 3 rd communication interface is 894 bytes/second.
(4.3) drive control function Module
The driving control function module is as follows: the main control system drives and controls two experimental exposure areas of the space material exposure platform through a driving and controlling functional module, and controls the experimental exposure areas to be unfolded and folded; the main control system can drive and control motors in the X axis, Y axis and Z axis of the optical camera of the image acquisition system, and drive the optical camera to run to a sample area to be observed; the main control system drives a 1-path focusing motor of the motion system to focus the optical camera through the driving control function module;
the driving control function module is characterized in that: the driving control of the multipath motors is realized, the running time, the movement stroke and the movement in-place state of each path of motor are monitored, and if the motor does not run to the designated stroke position or the designated in-place state within the running time threshold set by the binding parameters, the motor is automatically controlled to stop moving; the running time threshold value of each motor supports on-track updating through an on-track binding parameter functional module, and the safety of motor driving control is improved.
(4.4) image acquisition control function Module
The image acquisition control function module of the main control system is used for controlling the image acquisition system and comprises: the image acquisition control function module receives a manual focusing instruction or an automatic focusing instruction from a ground station forwarded by an upper platform, so as to realize focusing control of the image acquisition system; if the manual focusing instruction is adopted, the main control system performs single focusing control on the image acquisition system; if the automatic focusing command is the automatic focusing command, the main control system circularly performs focusing control on the image acquisition system at intervals of 4s until the main control system receives an optimal focusing result of the image acquisition system; the main control system eliminates the interference of motor focusing jitter on image data acquisition through delay of 4s, the image acquisition system feeds back a focusing result to the main control system, the automatic focusing time of each round is not more than 256s, and the focusing of the image acquisition system is completed; the manual focusing instruction is a backup function of the automatic focusing instruction, and defaults to the automatic focusing instruction.
(4.5) State monitoring functional Module
The state monitoring function module is used for monitoring the working states, communication states, working voltages, currents, temperatures, motor running states, motor movement positions and movement in-place states of the space material exposure experimental equipment and the master control system. The main control system updates the parameters of state monitoring in real time every 1000ms +/-100 ms, composes 896 byte data packets through an interface communication function module and forwards the 896 byte data packets to an upper platform through a 1553B interface; meanwhile, after forming 2048 bytes of data packets every 1000 ms+/-100 ms, the main control system forwards the data packets to an upper layer platform through an FC-AE-1553 interface. Parameters of the data packet include temperature of the heat preservation system, motor running state of the motion system, working state of the image acquisition system, focusing state, photographing state, software running state of the main control system, power supply and distribution state, communication interface state, refreshing state, health state, experimental data of the space material exposure experimental equipment, on-orbit working state and the like.
(4.6) on-orbit upgrade function Module
The on-orbit upgrade module is used for: and according to task requirements, a main control program running on the main control system is updated in an on-orbit upgrading mode according to the requirement change of the space material exposure experimental equipment, and the supporting capacity of the main control system on the space material exposure experimental equipment is improved.
When the codes of the main control system are upgraded on the track, the code data packet sent by the ground station is received through the FC-AE-1553 interface of the interface communication function module, any one of the 6 code areas can be selected for upgrading each time, and the upgraded code area can be switched to the original code area according to the instruction of the ground station.
(4.7) timing Refresh function Module
The timing refreshing function module is used for: in the running process of the main control system, periodically refreshing and checking a main control program running by the main control system at intervals of 30 min+/-1 min, and downloading a checking result to a ground station through an upper platform to improve the reliability of the system; the method comprises the steps of periodically refreshing a main control program operated by the main control system, and preventing the influence of space irradiation on the main control program.
(4.8) health monitoring and Fault handling functional Module
The health monitoring and fault handling functional module is: in the power-on life cycle of the main control system, when the heat preservation system is controlled, the environmental temperature and the sample temperature of the experimental equipment for exposing the space material are monitored, if the monitored temperature exceeds a set threshold value, a heating plate of the heat preservation system is automatically closed, and the environmental temperature and the sample temperature of the experimental equipment for exposing the space material are prevented from being too high;
the health monitoring and fault handling functional module is: in the main control system power-on life cycle, health monitoring is carried out on the working temperature of the heat preservation system, if the working fault of a heating plate of the heat preservation system occurs, for example, after the heating plate is opened for 10min, the temperature value rises to be less than 2 ℃, and fault treatment is automatically carried out: for example, the heating plate is turned off, and a health alarm prompt is carried out;
the health monitoring and fault handling functional module is: in the power-on life cycle of the main control system, 3 kinds of health monitoring are carried out on the movement stroke, the operation time and the movement in-place state of the motor in the operation control process of the motor of the movement system, for example: the movement stroke and the running time of the motor are beyond the binding parameter setting threshold value and still do not move in place, and then health alarm prompt is carried out;
Carrying out health state word polling prompt on a plurality of health alarm prompt messages;
and after all health state alarm prompt information is packaged through an interface communication function module of the main control system, the health state alarm prompt information is forwarded to the ground station to the upper platform.
(4.9) thermal insulation control function module
The main control system sends the acquired values of 24 paths of temperature sensors of the heat preservation system to the ground station through the upper layer platform; and if the acquired value of the temperature sensor is lower than the low-level threshold value of the binding parameter configuration, automatically controlling the related heating plates of the heat preservation system to work, and if the acquired value of the temperature sensor is higher than the high-level threshold value of the binding parameter configuration, automatically closing the related heating plates.
(4.10) on-track binding parameter function Module
And the on-track binding parameter functional module realizes the setting of the temperature threshold of the heating plate of the heat preservation system and the setting of the running time threshold of the motor in the motion system, thereby improving the flexibility of on-track experiments.
According to the invention, the main control system can be used for carrying out unfolding and recycling control on 2 space material exposure areas of the windward side and the windward side outside the cabin, and the motor control stroke of the space material exposure areas of the windward side and the windward side is up to 970mm.
In the invention, the master control system is provided with RS422 communication control of 5 space material exposure experimental devices, such as an outside-cabin atomic oxygen degradation experiment, a pollutant deposition experiment, a dynamic friction experiment, a static friction experiment, a windward side and a windward material sample exposure observation experiment, control of on-orbit experiment of the space material exposure experimental devices, and acquisition and package issuing of on-orbit data of the space material exposure experimental devices.
According to the invention, the main control system can control the heating plate of the heat preservation system to work according to the requirement of the space material exposure experimental equipment on the working environment, so that the environment temperature of the space material exposure experimental equipment and the sample in the backlight area is increased to the temperature required by the work, and the on-orbit working temperature configuration range is [ -25,60] DEGC.
According to the invention, the main control system can receive manual focusing or automatic focusing instructions of the ground station, perform focusing control on a camera of the image acquisition system, and feed back an execution result of the focusing control to the ground station.
According to the invention, the image acquisition functional module of the main control system can control the image acquisition system, so that exposure and photographing control of the material sample picture data in the appointed observation area is realized, and the material sample picture data are packaged and downlink to the ground station.
According to the invention, the main control system can drive and control the image acquisition system through the motor drive control system, so that the on-orbit observation of the space material exposure experiment sample image in the three-dimensional space of 960mm (length) ×110mm (width) ×370mm (height) is realized.
In the invention, the main control system receives clear image data sent by the image acquisition system after automatic focusing through an LVDS interface, and the quantity of each image data is 4096 x 2048B.
The main control system can continuously output 8 high-definition images at a time through an FC-AE-1553 interface with the upper platform.
In the invention, in the working process of the main control system, the FPGA codes are refreshed at regular time, so that the abnormal operation of the codes caused by the influence of space irradiation and the like is prevented; and after refreshing, checking the code, and descending the checking result to the ground station.
In the invention, in the working process of the main control system, the temperature of the space material exposure experimental equipment or the sample is monitored, and if the temperature exceeds the set threshold value of the binding parameter, the heating plate of the heat preservation system is automatically closed. If the heating plate fails to heat, the heating plate is automatically closed.
In the invention, the main control system can monitor the running time, the running stroke and the moving in-place state of the 6 paths of motors of the motion system in 3 states, and if the motors do not run to the designated stroke position or do not move in place within the set time threshold, the motors are automatically controlled to stop moving; the running time threshold value of each motor supports on-track configuration, so that the safety of motor driving control is improved.
According to the method and the device, the main control system can be changed according to the task requirements of the space material exposure experimental equipment, and code on-orbit updating is achieved.
The invention also provides a method based on the space material exposure experiment control system, which comprises the following steps:
step 1, configuring a plurality of space material exposure experimental devices by an on-orbit spacecraft, wherein the space material exposure experimental devices are provided with space material exposure platforms, and the space material exposure platforms are provided with sample areas to be observed for placing material samples; the space material exposure platform is provided with a main control system, a heat preservation system, an image acquisition system and a motion system;
step 2, in the mechanical arm transferring process, the main control system receives a ground station instruction forwarded by the mechanical arm through the interface communication functional module, so that the thermal insulation control of the spatial material exposure platform in the mechanical arm transferring process is realized, and the working temperature of spatial material exposure experimental equipment reaches the working temperature requirement specified by the binding parameters; simultaneously, the main control system feeds back the state data of the control system to the ground station through the mechanical arm by the interface communication function module; for example, the main control system forwards the experimental data to the mechanical arm to 32 bytes every second through the interface communication function module;
wherein the ground station instructions comprise: and the heat preservation system heats the control instruction of the sheet, thereby controlling the designated heating sheet to work and heating the designated space material exposure experimental equipment. If the state monitoring module of the main control system detects that the temperature sensor acquisition value of the heat preservation system exceeds the temperature threshold set by the binding parameter, the heating plate is automatically closed;
After the space material exposure platform is transported, the main control system receives the ground station instruction forwarded by the upper layer platform through the interface communication functional module, for example: a heating plate control instruction of the heat preservation system, a motion control instruction, a working instruction of experimental equipment for exposing the space material, and a focusing and photographing instruction of the image acquisition system; the control related system works specifically comprises:
the main control system controls the appointed heating plate of the heat preservation system according to the control instruction of the heating plate of the heat preservation system, so that the space material exposes the working environment temperature of experimental equipment to meet the requirement of on-orbit working temperature, and if the temperature exceeds the threshold range of-25,60 ℃ set by binding parameters, the heating plate of the heat preservation system is automatically closed;
the main control system controls 2 motors of the motion system of the space material exposure platform according to the driving control instruction, controls the space material exposure platform to perform unfolding action, and starts exposure experiments of the space material;
step 3, the main control system controls motors in the X axis, Y axis and Z axis directions of the motion system according to the driving control instruction sent by the ground station, and drives the image acquisition system to move to a photographing observation area of the appointed sample;
Then, an image acquisition functional module of the main control system receives an optical camera focusing instruction from the ground station through an interface communication functional module; the image acquisition functional module of the main control system controls a focusing motor of the motion system to perform focusing control on an optical camera lens according to an optical camera focusing instruction, and sends an optimal focusing result to the ground station; specifically, the image acquisition functional module of the main control system circularly sends an automatic focusing instruction of the optical camera every 4s, and feeds back a focusing process and a focusing result to the ground station;
step 4, the main control system receives a material sample image photographing instruction from the ground station through the interface communication function module, and performs photographing control on the optical camera, so that the optical camera acquires material sample picture data of a material sample in a sample area to be observed in the current environment, and simultaneously records current environment parameters and an acquisition time stamp;
the main control system forms a data packet from the collected material sample picture data, the current environmental parameters and the collection time stamp, and sends the data packet to the ground station through the interface communication function module; specifically, the FC-AE-1553B interface of the interface communication function module is forwarded to the ground station to the upper layer platform; the packet length of the image packet is 20480 bytes/sec, and the image packet can be down-stream by 64MB of image data at maximum.
In addition, after the main control system exposes all experimental data packets of the experimental equipment to the acquired space material, the acquired space material is forwarded to the ground station through the FC-AE-1553B interface, and the length of the experimental data packets is 20480 bytes/second.
Step 5, the main control system sends a working instruction from a ground station to the space material exposure experimental equipment through a 5-path RS422 interface of the interface communication functional module, and controls the space material exposure experimental equipment to work;
step 6, the main control system refreshes and checks the internal software of the main control system every 30 min+/-1 min in the power-on life cycle, so that the reliability of the software is improved;
step 7, the main control system updates on-orbit data in real time every 1000 ms+/-100 ms, and sends the data to the upper platform after being packaged by the interface communication functional module, wherein the data of the on-orbit experiment comprise the temperature of the heat preservation system, the running state of a motor of the motion system, the state of the image acquisition system, the running state of software of the main control system, the power supply and distribution state, the communication interface state, the refreshing state and the health state, the on-orbit experiment data of the space material exposure experiment equipment, the on-orbit working state and the like;
step 8, the main control system monitors the working temperature of the heat preservation system and the running state of a motor of the motion system in the power-on life cycle, and if the working fault of a heating plate of the heat preservation system can not be heated, the main control system carries out health alarm prompt; if the motor movement stroke and the running time of the movement system exceed the time threshold set by the binding parameters and still do not move in place, health alarm prompt is carried out; if the heating sheet of the heat preservation system exceeds the temperature threshold set by the binding parameter, automatically turning off the heating sheet, and feeding back the treatment result through the health status word; carrying out health state word polling prompt on a plurality of health alarm prompt messages;
Specifically, when the main control system controls the heating plate of the heat preservation system, the environmental temperature and the sample temperature of the experimental equipment are monitored by exposing the space materials, and if the monitored temperature exceeds a set threshold value, the heating plate of the heat preservation system is automatically closed, and the health status word is downloaded to the ground station.
The main control system monitors the working temperature of the heat preservation system and the running state of a motor of the motion system in a power-on life cycle; if the heat preservation system heating plate fails to heat, for example, after the heating plate is opened for 10min, the temperature value rises to be less than 2 ℃, and then the fault treatment is automatically carried out: for example, the heating plate is turned off, and a health alarm prompt is carried out; if the motor movement stroke and the running time of the movement system exceed the binding parameter setting threshold values and still do not move in place, health alarm prompt is carried out; if the heating sheet of the heat preservation system exceeds the temperature threshold set by the binding parameter, automatically turning off the heating sheet, and prompting the treatment result by a health status word; and carrying out health state word polling prompt on the plurality of health alarm prompt messages.
And 9, when the main control system runs on the track, software upgrading is carried out according to the change of the requirement of the space material exposure experimental equipment, and the on-track adaptability and the supporting capacity of the main control system are improved.
In the whole process, the 2 nd FC-AE-1553B interface and the 3 rd 1553B interface of the interface communication function module of the main control system send all system data to the ground station group package through the upper platform at intervals of 1000 ms+/-100 ms, wherein the data package length of the 2 nd interface is 2048 bytes, the data package length of the 3 rd interface is 896 bytes, and the data package content comprises an execution result of an instruction, the working state of a space material exposure experimental device, the running state of a motor of a motion system and the working state of the main control system.
After the experiment of the space material exposure experiment control system is finished, the main control system controls all the space material exposure experiment equipment to finish the experiment, the heating plate power supply of the external equipment and the heat preservation system is closed, 3 photographing motors and 1 focusing motor of the motion system are controlled to return to the original positions, 2 experiment sample exposure platforms are controlled to be folded, and all the experiments are finished.
The space material exposure experiment control system and the space material exposure experiment control method can perform on-orbit exposure experiments on space materials, collect photo data and experimental data in the experimental process in real time and transmit the photo data and the experimental data back to the ground station, can provide safe and reliable control technology for the space material exposure experiments, and provide technical support for analysis and on-orbit real-time observation of the material exposure on-orbit experimental data.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which is also intended to be covered by the present invention.

Claims (10)

1. A space material exposure experiment control system, characterized in that the space material exposure experiment control system is carried in an on-orbit spacecraft, and is transported from the inside of the spacecraft to the outside of the spacecraft by a mechanical arm, and the space material exposure experiment control system can perform experiment control on space material exposure experiment equipment and experiment samples in the inside and the outside of the spacecraft, and the space material exposure experiment control system comprises: the system comprises a main control system, a motion system, an image acquisition system and a heat preservation system; the main control system is respectively connected with the motion system, the image acquisition system and the heat preservation system;
the master control system includes: the system comprises an interface communication function module, an external equipment power supply and distribution management function module, a driving control function module, an image acquisition control function module, an on-track binding parameter function module, a health monitoring and fault handling function module, a state monitoring function module, a heat preservation control function module, an on-track upgrading function module and a timing refreshing function module;
The motion system comprises a space material exposure platform motion system, an optical camera motion system and an optical camera focusing system; the space material exposure platform movement system is used for controlling the expansion and contraction of two experimental exposure areas of the space material exposure platform; the optical camera motion system is used for driving the optical camera to perform three-dimensional motion control on an X axis, a Y axis and a Z axis, so that the optical camera is operated to a sample area to be observed; the optical camera focusing system enables the optical camera to perform focusing movement control;
the image acquisition system is used for receiving, analyzing, processing and responding to an upper platform instruction forwarded by the main control system, carrying out image acquisition on a material sample in a sample area to be observed, uploading acquired material sample picture data to the main control system, and downloading the acquired material sample picture data to a ground station through the interface communication function module and the upper platform by the main control system;
the heat preservation system is used for collecting the working temperature of the space material exposure experimental equipment and controlling the heat preservation in an on-orbit manner;
the driving control function module is used for realizing driving control of the motion system;
The image acquisition control function module is used for controlling the image acquisition system;
the health monitoring and fault handling functional module monitors the environmental temperature of the space material exposure experimental equipment and the sample.
2. The space material exposure experiment control system according to claim 1, wherein the external device power supply and distribution management function module is configured to provide 15-way 28V power supply management and control, and comprises: working voltage, current and temperature are collected, overcurrent protection function is provided, and 28V power supply access of 5 space material exposure experimental equipment, 8 heating plates of a heat preservation system and a driving control circuit of a motion system is supported.
3. The space material exposure experiment control system according to claim 1, wherein the main control system is connected with the upper platform and the mechanical arm through interface communication function modules respectively;
the interface communication function module is provided with a 3-way communication interface, wherein the 1 st-way communication interface is a 1553B interface, the 2 nd-way communication interface is an FC-AE-1553 interface, and the 3 rd-way communication interface is a 1553B interface; the 1 st path communication interface and the 3 rd path communication interface are two interfaces which work independently;
The 1 st path communication interface realizes the bidirectional data communication of the master control system and the mechanical arm in the transfer process of the mechanical arm, and specifically comprises the following steps: the mechanical arm uploads a heat preservation control instruction sent by a ground station to the main control system through the 1 st path communication interface, and the main control system controls the heating plate appointed by the heat preservation system to work; the main control system reports on-orbit working state data to the mechanical arm through the 1 st path communication interface; the main control system realizes heat preservation control and data communication of the space material exposure platform in the transfer process of the mechanical arm through the 1 st path communication interface;
after the transfer of the mechanical arm is finished, the 2 nd path of communication interface and the 3 rd path of communication interface jointly realize the two-way data communication of the main control system and the upper platform, and specifically comprise: the upper platform uploads an instruction sent by the ground station to the main control system through the 2 nd path communication interface and the 3 rd path communication interface for data analysis and processing; the main control system packs the on-orbit experimental data and reports the packed data to the upper platform through the 2 nd path communication interface and the 3 rd path communication interface;
The 3 rd communication interface is an instruction receiving main channel, and the 2 nd communication interface is an instruction receiving backup channel; and the instruction receiving main channel and the instruction receiving backup channel are used for simultaneously transmitting the data packet of the main control system to the upper platform, and the upper platform is used for transmitting the data packet to the ground station so as to improve the reliability of data downlink.
4. The space material exposure experiment control system according to claim 1, wherein the drive control function module realizes drive control of a plurality of motors; the multi-path motor includes: the system comprises motors in 3 directions, 2 motors of a space material exposure platform motion system and 1 focusing motor of an image acquisition system, wherein the motors are configured by an optical camera motion system, the running time, the motion travel and the motion in-place state of each path of motor are monitored by a main control system through a driving control function module, and if the motors do not run to a specified travel position or a specified in-place state within a running time threshold set by binding parameters, the motors are automatically controlled to stop moving; the running time threshold value of each motor supports on-track updating through an on-track binding parameter functional module, and the safety of motor driving control is improved.
5. The spatial material exposure experiment control system according to claim 1, wherein the image acquisition system receives, parses, responds to and processes the instructions sent by the master control system through an RS422 interface; exposing and photographing a material sample picture of a sample area to be observed, and feeding back an optimal focusing result to the main control system; sending collected material sample picture data to a main control system through an LVDS interface;
the image acquisition control function module is used for controlling the image acquisition system, and comprises the following components: the image acquisition control function module receives a manual focusing instruction or an automatic focusing instruction from a ground station forwarded by an upper platform, so as to realize focusing control of the image acquisition system; if the manual focusing instruction is adopted, the main control system performs single focusing control on the image acquisition system; if the automatic focusing command is the automatic focusing command, the main control system circularly and automatically forwards the automatic focusing command to the image acquisition system, and the image acquisition system is subjected to focusing control at intervals of 4s circularly until the main control system receives an optimal focusing result of the image acquisition system; the main control system eliminates the interference of motor focusing jitter on image data acquisition through delay 4s, and the image acquisition system feeds back a focusing result to the main control system to finish focusing of the image acquisition system; the manual focusing instruction is a backup function of the automatic focusing instruction, and defaults to the automatic focusing instruction.
6. The space material exposure experiment control system according to claim 1, wherein the state monitoring function module is configured to monitor an operation state, a communication state, an operation voltage, a current, a temperature, a motor operation state, a motor movement position and a motor movement in-place state of the space material exposure experiment device and the master control system, update a packet by the master control system, and then descend to the ground station, wherein a data packet descending rate is 2048 bytes/second at maximum.
7. The space material exposure experiment control system according to claim 1, wherein the on-orbit upgrade function module is configured to: and the main control program running on the main control system is updated in an on-orbit upgrading mode according to the change of the requirement of the space material exposure experimental equipment, so that the supporting capacity of the main control software on the space material exposure experimental equipment is improved.
8. The spatial material exposure experiment control system according to claim 1, wherein the timed refresh function module is configured to: in the running process of the main control system, periodically refreshing and checking a main control program running in the main control system at regular time, and downloading a checking result to a ground station through an upper platform to improve the reliability of the system; and periodically refreshing a main control program operated by the main control system to prevent the influence of space irradiation on the main control program.
9. The space material exposure experiment control system according to claim 1, wherein the heat preservation system is specifically configured to: the main control system controls the heating plate of the heat preservation system to work according to the requirement of the working temperature set by the space material exposure experimental equipment, so that the environment temperature of the space material exposure experimental equipment in the backlight area is increased to the temperature required by the work, the on-orbit working temperature configuration range is [ -25,60] DEGC, and the on-orbit binding parameter function module is used for realizing configuration;
when the heating plate of the heat preservation system is controlled, the health monitoring and fault handling functional module of the main control system monitors the environmental temperature of the space material exposure experimental equipment and the sample, and if the temperature exceeds the set threshold value of the binding parameter, the heating plate of the heat preservation system is automatically closed, so that the safety of the heat preservation system is improved; when the motion system is driven and controlled, the main control system realizes 3 health state monitoring and fault prompting of the running time, the motion travel and the motion in-place state of the motor through the health monitoring and fault disposing function module, so that the ground station can observe and dispose on the track conveniently, and the safety of the motion system is improved.
10. A method of using the spatial material exposure experiment control system according to any one of claims 1-9, comprising the steps of:
step 1, configuring a plurality of space material exposure experimental devices by an on-orbit spacecraft, wherein the space material exposure experimental devices are provided with space material exposure platforms, and the space material exposure platforms are provided with sample areas to be observed for placing material samples; the space material exposure platform is provided with a main control system, a heat preservation system, an image acquisition system and a motion system;
step 2, in the mechanical arm transferring process, the main control system receives a ground station instruction forwarded by the mechanical arm through the interface communication functional module, so that the thermal insulation control of the spatial material exposure platform in the mechanical arm transferring process is realized, and the working temperature of spatial material exposure experimental equipment reaches the working temperature requirement specified by the binding parameters; simultaneously, the main control system feeds back the state data of the control system to the ground station through the mechanical arm by the interface communication function module;
after the space material exposure platform is transported, the main control system receives the ground station instruction forwarded by the upper layer platform through the interface communication function module and controls the related system to work, and the method specifically comprises the following steps of;
The main control system controls 2 motors of the motion system of the space material exposure platform according to the driving control instruction, controls the space material exposure platform to perform unfolding action, and starts exposure experiments of the space material;
step 3, the main control system controls motors in the X axis, Y axis and Z axis directions of the motion system according to the driving control instruction sent by the ground station, and drives the image acquisition system to move to a photographing observation area of the appointed sample;
then, an image acquisition functional module of the main control system receives an optical camera focusing instruction from the ground station through an interface communication functional module; the image acquisition functional module of the main control system controls a focusing motor of the motion system to perform focusing control on an optical camera lens according to an optical camera focusing instruction, and sends an optimal focusing result to the ground station;
step 4, the main control system receives a material sample image photographing instruction from the ground station through the interface communication function module, and performs photographing control on the optical camera, so that the optical camera acquires material sample picture data of a material sample in a sample area to be observed in the current environment, and simultaneously records current environment parameters and an acquisition time stamp;
the main control system forms a data packet from the collected material sample picture data, the current environmental parameters and the collection time stamp, and sends the data packet to the ground station through the interface communication function module;
Step 5, the main control system sends a working instruction from a ground station to the space material exposure experimental equipment through a 5-path RS422 interface of the interface communication functional module, and controls the space material exposure experimental equipment to work;
step 6, the main control system refreshes and checks the internal software of the main control system every 30 min+/-1 min in the power-on life cycle, so that the reliability of the software is improved;
step 7, the main control system updates on-orbit data in real time every 1000 ms+/-100 ms, and sends the data to the upper platform after being packaged by the interface communication functional module, wherein the data of the on-orbit experiment comprise the temperature of the heat preservation system, the running state of a motor of the motion system, the state of the image acquisition system, the running state of software of the main control system, the power supply and distribution state, the communication interface state, the refreshing state and the health state, and the on-orbit experiment data and the on-orbit working state of the space material exposure experiment equipment;
step 8, the main control system monitors the working temperature of the heat preservation system and the running state of a motor of the motion system in the power-on life cycle, and if the working fault of a heating plate of the heat preservation system can not be heated, the main control system carries out health alarm prompt; if the motor movement stroke and the running time of the movement system exceed the time threshold set by the binding parameters and still do not move in place, health alarm prompt is carried out; if the heating sheet of the heat preservation system exceeds the temperature threshold set by the binding parameter, automatically turning off the heating sheet, and feeding back the treatment result through the health status word; carrying out health state word polling prompt on a plurality of health alarm prompt messages;
And 9, when the main control system runs on the track, software upgrading is carried out according to the change of the requirement of the space material exposure experimental equipment, and the on-track adaptability and the supporting capacity of the main control system are improved.
CN202310500246.4A 2023-05-06 2023-05-06 Space material exposure experiment control system and method Active CN116198749B (en)

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