CN117719701A - Program control method and system for autonomous sailboard after satellite and rocket separation - Google Patents

Abstract

The invention provides a program control method and a program control system for an autonomous sailboard after satellite and rocket separation, wherein the program control method comprises the following steps of S1: the star computer periodically judges the separation state of the star arrow; the star computer is provided with star software; step S2: the star computer gives an instruction based on the signal parameters to complete the unfolding program control of the sailboard; the signals include a pose in place signal and a unwrap in place signal. The invention provides a program control method suitable for an autonomous sailboard after satellite and arrow separation for the first time, which can improve timeliness, safety and reliability of sailboard deployment after satellite and arrow separation, lighten the pressure of ground measurement and control of a satellite launching orbit section, lay a foundation for smooth satellite launching orbit, and has good engineering application value.

Description

Program control method and system for autonomous sailboard after satellite and rocket separation

Technical Field

The invention relates to the field of aerospace, in particular to a program control method and a program control system for an autonomous sailboard after satellite and rocket separation.

Background

When the satellite is placed in the rocket, the solar sailboard is collected in the satellite body through the compression rod, after the satellite is separated from the rocket and the posture is stable, a initiating explosive device filled in the compression rod is required to be detonated, so that the solar sailboard is unfolded, the solar sailboard is required to be driven to rotate to a designated position according to the solar azimuth in orbit, solar energy is converted into electric energy through the solar cell, the supply of satellite energy is ensured, and therefore, the satellite launching has extremely high requirements on the reliability of the unfolding of the sailboard after the satellite and the rocket are separated. In order to ensure satellite energy, the sailboard needs to be unfolded from a compact state to a drivable state as soon as possible after the satellites and the arrows are separated.

In the Chinese patent document with the publication number of CN108945530A, a satellite and arrow separation signal design and a simulation method thereof are disclosed, wherein two paths of isolated 28V satellite bus voltages are respectively divided into signals of 10V by using resistors, and the signals are respectively sent to a user end of the satellite and arrow separation signal for AND logic operation through plugs and sockets of two satellite and arrow separation electric connectors, so that a satellite and arrow separation indication signal is obtained; the satellite-rocket separation signal and the ground wire thereof are led to the ground from the satellite-rocket separation electric connector, and the satellite-rocket separation signal and the ground wire are short-circuited through the ground relay to realize the satellite-rocket separation. However, the patent document focuses on the reliability of sending out a separation signal by a satellite-rocket separation circuit and ground test, and does not relate to a control method for unfolding a sailboard after separation of a satellite-rocket.

In chinese patent publication No. CN106364703a, an on-orbit solar panel deployment system is disclosed, which comprises an aircraft main system and an aircraft subsystem, wherein the aircraft main system comprises a first main body and a solar panel deployment mechanism, the solar panel deployment mechanism is tightly folded on the first main body, and when the solar panel deployment mechanism is in failure, the aircraft subsystem performs laser cutting on the solar panel deployment mechanism for assisting the solar panel deployment mechanism to deploy. The patent document can assist the expansion of the sailboard by utilizing a laser cutting technology when the failure of the cutter can not realize the expansion of the sailboard, but focuses on the design of the solar sailboard on the expansion scheme, and does not relate to the control of a star computer on the expansion process of the sailboard.

In the chinese patent document with publication number CN101995193a, a method for separating a redundant backup star-rocket separated electrical connector is disclosed, a redundant backup mode is adopted to realize reliable separation of the separated electrical connector and a satellite star, an electrical release instruction is used as a main separation mode, and an aramid rope is strongly released as a backup separation mode. After the launch of the carrier rocket, after receiving an electric connector separation instruction sent by the ground, the separation electric connector automatically drops off from the microsatellite star according to an electric signal, the explosion bolt of the wrapping belt is unlocked after 1.2 seconds, the separating spring of the docking bracket base ejects the microsatellite out of the carrier rocket, and the docking bracket is reserved on the carrier rocket; if the electric separation of the separation electric connector is unsuccessful, the separation spring of the butt joint bracket base ejects the microsatellite to the flying direction, and meanwhile, the aramid rope is changed into a stretching state from a loosening state, and the separation electric connector is pulled out along the direction opposite to the flying direction, so that the separation electric connector is separated. However, the patent document focuses on the reliability design of a satellite-rocket separation interface, and does not relate to a control method for unfolding a satellite sailboard after separation of a satellite-rocket.

In chinese patent document publication No. CN204726686U, a deployment mechanism for a satellite solar panel is disclosed, comprising: the device comprises a male hinge, a rotating shaft, a torsion spring shaft sleeve, a torsion spring, a slideway, a female hinge, a joint bearing, a locking rod and a compression spring; the male hinge and the female hinge are respectively fixed on the satellite main body structure and the solar sailboard; the torsion spring shaft sleeve is sleeved on the rotating shaft, and the torsion spring is sleeved on the torsion spring shaft sleeve; one end of the rotating shaft is connected with the joint bearing, and the other end of the rotating shaft is arranged on the male hinge; two ends of the torsion spring are fixedly connected with the male hinge and the female hinge respectively; the knuckle bearing is fixed on the female winch; the male hinge and the female hinge are rotationally connected through a joint bearing, a rotating shaft, a torsion spring shaft sleeve and a torsion spring, and the moment of the torsion spring is utilized to open and close the sailboard; the slideway with the groove on the surface is fixed on the male hinge; the locking rod is arranged on the female hinge; the compression spring is sleeved on the locking rod, and two ends of the compression spring respectively prop against the locking rod and the female winch; the satellite solar sailboard is unfolded, the female winch drives the locking rod to slide to the groove along the slideway, and the compression spring pushes the locking rod to be inserted into the groove to lock the unfolding angle of the sailboard. The patent document is a mechanical design applied to unfolding and locking of a solar array, and does not relate to a control method for unfolding the array after a computer system separates an arrow.

In chinese patent document publication No. CN106428645a, a satellite-arrow separation system is disclosed, comprising: the satellite pushing device is provided with a rigid adapter; the axis of the sleeve is arranged along the satellite pushing-away direction, and one end of the sleeve is opposite to the rigid adapter; the first stepping motor and the second stepping motor are identical in specification and are symmetrically arranged about the axis of the sleeve; the first flexible racks and the second flexible racks are identical in specification, the head ends of the first flexible racks and the second flexible racks are meshed, penetrate through the sleeve and are fixedly connected with the rigid adapter, the sleeve is used for ensuring that the first flexible racks and the second flexible racks are meshed, and the head ends of the first flexible racks and the second flexible racks are meshed and then have rigidity for supporting satellite pushing away; the middle section of the first flexible rack is meshed with the output shaft teeth of the first stepping motor, and the middle section of the second flexible rack is meshed with the output shaft teeth of the second stepping motor. However, the patent document also does not relate to a control method for the deployment of the sailboard by the star computer after the separation of the satellites and the arrows.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a program control method and a program control system for an autonomous sailboard after satellite and rocket separation.

The program control method for the autonomous sailboard after satellite and rocket separation provided by the invention comprises the following steps:

step S1: the star computer periodically judges the separation state of the star arrow;

the star computer is provided with star software;

step S2: the star computer gives an instruction based on the signal parameters to complete the unfolding program control of the sailboard;

the signals include a pose in place signal and a unwrap in place signal.

Preferably, the state of separating the satellites and the arrows comprises a state before separating the satellites and a state after separating the satellites and the arrows; if the state of separating the satellites and the arrows is changed from the state before separating the satellites and the arrows to the state after separating the satellites and the arrows, starting a satellite and arrow separation program; the separation procedure comprises a sailboard unfolding preparation procedure, a sailboard unfolding procedure and a sailboard driving preparation procedure.

Preferably, the step S2 includes the following substeps:

step S2.1: pre-storing a satellite-arrow separation protection time and a satellite-arrow separation protection interval by the star software, and injecting the latest protection time and the latest protection interval into the star computer according to the actual state before launching;

step S2.2: the star computer periodically judges the separation state of the star arrow; if the separation state is continuously judged to reach the preset times, the star computer enters a state after the star arrow is separated; if the satellite-arrow separation protection is released at this time, starting a satellite-arrow separation program;

step S2.3: the star computer program control sends a relevant instruction for preparing sailboard to be unfolded, and enters a waiting posture in place state;

step S2.4: reading a posture in-place signal every period, and informing a star computer through a bus message after the posture track control is initially biased; the attitude in-place signal is sent out through a specific bus message based on an attitude track control subsystem;

step S2.5: after the star computer judges that the gesture is in place, the star computer program-control sends a initiating explosive device initiation instruction to enter a state of waiting for the sailboard to be unfolded in place;

step S2.6: reading a sailboard unfolding in-place signal every cycle;

step S2.7: and (3) unfolding the sailboard of the attitude and orbit control subsystem to a preset position, and sending a power-up instruction of the driver and a power-up instruction of the driving mechanism in a program control manner.

Preferably, the sailboard unfolding preparation comprises that after a star computer enters a star arrow separation program control, a initiating explosive device standard line and a ground wire are automatically connected and other program control is carried out; the sailboard unfolding comprises the steps of sending an instruction according to a time sequence after the satellite gesture is adjusted to a preset value, and carrying out solar sailboard unfolding; the instruction comprises a initiating explosive device initiation instruction; the sailboard driving preparation comprises the steps that after a star computer judges that the sailboard is unfolded to reach a preset position, an attitude rail control sailboard unfolded in-place signal is sent, and a stand-alone machine for gesture preparation control is powered on; the single machine comprises a solar array driver and a solar array driving mechanism.

Preferably, the signal for judging the satellite-rocket separation state by the satellite computer is a state judged by satellite computer software through a judging method, and is not an external signal state; the sailboard unfolding preparation flow comprises preset conditions for program control guarantee sailboard unfolding and attitude control.

Preferably, the star software triggers and starts a sailboard unfolding preparation process by a star arrow separation signal, triggers and starts the sailboard unfolding program by a gesture track in-place signal, and triggers and starts a sailboard unfolding preparation process to a preset position by an unfolding locking in-place signal.

Preferably, the star computer makes a protection strategy when judging that the star is in a state after the separation before the actual separation, and makes a coping strategy in other situations; the other situations include that the state after the satellite and the arrow are separated is not judged after the actual separation, the gesture in-place signal is not received, and the sailboard unfolding in-place signal is not received.

Preferably, the protection strategy comprises setting a satellite-arrow separation protection time, and starting a satellite-arrow separation program after protection is released; the coping strategy comprises that the star software judges overtime of the gesture in-place signal or the sailboard in-place signal, and if the gesture in-place signal or the sailboard in-place signal exceeds the preset time, the program control process is exited.

Preferably, the satellite software takes measures to protect based on forced start of the flight program function.

The invention provides a program control system for an autonomous sailboard after satellite and rocket separation, which comprises the following components:

module M1: the star computer periodically judges the separation state of the star arrow;

the star computer is provided with star software;

module M2: the star computer gives an instruction based on the signal parameters to complete the unfolding program control of the sailboard;

the signals include a pose in place signal and a unwrap in place signal.

Preferably, the state of separating the satellites and the arrows comprises a state before separating the satellites and a state after separating the satellites and the arrows; if the state of separating the satellites and the arrows is changed from the state before separating the satellites and the arrows to the state after separating the satellites and the arrows, starting a satellite and arrow separation program; the separation procedure comprises a sailboard unfolding preparation procedure, a sailboard unfolding procedure and a sailboard driving preparation procedure.

Preferably, the module M2 comprises the following sub-modules:

module M2.1: pre-storing a satellite-arrow separation protection time and a satellite-arrow separation protection interval by the star software, and injecting the latest protection time and the latest protection interval into the star computer according to the actual state before launching;

module M2.2: the star computer periodically judges the separation state of the star arrow; if the separation state is continuously judged to reach the preset times, the star computer enters a state after the star arrow is separated; if the satellite-arrow separation protection is released at this time, starting a satellite-arrow separation program;

module M2.3: the star computer program control sends a relevant instruction for preparing sailboard to be unfolded, and enters a waiting posture in place state;

module M2.4: reading a posture in-place signal every period, and informing a star computer through a bus message after the posture track control is initially biased; the attitude in-place signal is sent out through a specific bus message based on an attitude track control subsystem;

module M2.5: after the star computer judges that the gesture is in place, the star computer program-control sends a initiating explosive device initiation instruction to enter a state of waiting for the sailboard to be unfolded in place;

module M2.6: reading a sailboard unfolding in-place signal every cycle;

module M2.7: and (3) unfolding the sailboard of the attitude and orbit control subsystem to a preset position, and sending a power-up instruction of the driver and a power-up instruction of the driving mechanism in a program control manner.

Preferably, the sailboard unfolding preparation comprises that after a star computer enters a star arrow separation program control, a initiating explosive device standard line and a ground wire are automatically connected and other program control is carried out; the sailboard unfolding comprises the steps of sending an instruction according to a time sequence after the satellite gesture is adjusted to a preset value, and carrying out solar sailboard unfolding; the instruction comprises a initiating explosive device initiation instruction; the sailboard driving preparation comprises the steps that after a star computer judges that the sailboard is unfolded to reach a preset position, an attitude rail control sailboard unfolded in-place signal is sent, and a stand-alone machine for gesture preparation control is powered on; the single machine comprises a solar array driver and a solar array driving mechanism.

Preferably, the signal for judging the satellite-rocket separation state by the satellite computer is a state judged by satellite computer software through a judging method, and is not an external signal state; the sailboard unfolding preparation flow comprises preset conditions for program control guarantee sailboard unfolding and attitude control.

Preferably, the star software triggers and starts a sailboard unfolding preparation process by a star arrow separation signal, triggers and starts the sailboard unfolding program by a gesture track in-place signal, and triggers and starts a sailboard unfolding preparation process to a preset position by an unfolding locking in-place signal.

Preferably, the star computer makes a protection strategy when judging that the star is in a state after the separation before the actual separation, and makes a coping strategy in other situations; the other situations include that the state after the satellite and the arrow are separated is not judged after the actual separation, the gesture in-place signal is not received, and the sailboard unfolding in-place signal is not received.

Preferably, the protection strategy comprises setting a satellite-arrow separation protection time, and starting a satellite-arrow separation program after protection is released; the coping strategy comprises that the star software judges overtime of the gesture in-place signal or the sailboard in-place signal, and if the gesture in-place signal or the sailboard in-place signal exceeds the preset time, the program control process is exited.

Preferably, the satellite software takes measures to protect based on forced start of the flight program function.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention provides a program control method suitable for an autonomous sailboard after satellite and arrow separation for the first time, which can improve timeliness, safety and reliability of sailboard deployment after satellite and arrow separation, lighten the pressure of ground measurement and control of a satellite launching orbit section, lay a foundation for smooth satellite launching orbit, and has good engineering application value.

2. The method can solidify the sailboard expansion control to the on-board software, and the sailboard expansion control and the ground instruction are mutually backed up, and meanwhile, the risk of external input abnormality is considered, so that the reliability of the sailboard expansion control is greatly improved, and a foundation is laid for smooth orbit entering and stable orbit running of the satellite.

3. The solar sailboard program-controlled unfolding method for the star computer can effectively reduce risks caused by ground judging and sending errors, shorten judging time of sending and sending time, effectively shorten instruction paths and improve reliability of sailboard unfolding after star and arrow separation.

4. According to the invention, after the satellites and the arrows are separated, the sailboard unfolding control takes the on-board satellite computer program control as the main part and the ground measurement and control as the auxiliary part, and a practical and effective protection strategy is formulated for the abnormal reading of the satellite and the arrow separation signals and other external input anomalies, so that the ground control step is simplified, and the provided method is practical and feasible, and has higher popularization value and adaptability, and the provided method is applied to a certain low-orbit satellite and arrow separation program control scheme.

Other advantages of the present invention will be set forth in the description of specific technical features and solutions, by which those skilled in the art should understand the advantages that the technical features and solutions bring.

Drawings

Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

FIG. 1 is a flow chart of the method of the present invention.

FIG. 2 is a schematic view of the sail panel of the present invention deployed to a driven condition.

FIG. 3 is a program control flow chart of the satellite and arrow separation in the invention.

FIG. 4 is a timing diagram of the time and interval of the satellite and rocket separation program control in an embodiment of the present invention.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.

A programmed method for autonomous sailboard after satellite-rocket separation, comprising:

referring to fig. 1 and 2, a satellite computer judges a satellite and arrow separation signal, carries out subsequent program control according to a gesture in-place signal and an expansion in-place signal, and establishes corresponding strategies for risks such as the satellite and arrow separation signal, an abnormal gesture in-place signal, an expansion in-place signal and the like, so as to ensure that the satellite solar array expansion program control is carried out normally.

The satellite computer judges the satellite-rocket separation state, and when the state is changed from the state before satellite-rocket separation to the state after satellite-rocket separation, a satellite-rocket separation program is started; the separation procedure includes "sailboard deployment preparation→sailboard deployment→sailboard driving preparation"; the satellite and rocket separation program needs to conditionally send a control instruction according to an external signal in the program control process; the signal is not an external signal state, but a state that the satellite computer software determines by some reliable determination method.

The sailboard unfolding preparation refers to that after a star computer enters a star arrow separation program control, a initiating explosive device standard line and a ground wire are automatically connected, and other program controls are carried out to ensure minimum conditions of sailboard unfolding and attitude control;

the sailboard unfolding means that after the satellite gesture has the condition, commands such as initiating explosive device detonation and the like are sent according to time sequence, and the solar sailboard is unfolded;

the sailboard driving preparation refers to that after the star computer judges that the sailboard is unfolded in place, the star computer informs that the attitude rail control sailboard is unfolded in place and powers up a single machine required by attitude control such as a solar array driver/a solar array driving mechanism;

the star arrow separation signal triggers the star software to start the sailboard unfolding preparation program, the attitude and orbit control in-place signal triggers the star software to start the sailboard unfolding program, and the unfolding and locking in-place signal triggers the sailboard driving preparation flow after the star software starts the sailboard to be unfolded in place.

The invention establishes a protection strategy for the state that the star computer judges after the star is separated before the actual separation, establishes a coping strategy for the state that the star computer does not judge after the star is separated after the actual separation, establishes a coping strategy for the state that the star computer does not receive the in-place signal, and establishes a coping strategy for the state that the star computer does not receive the in-place signal.

Aiming at the situation that the star computer judges that the star is separated before the actual separation, a protection strategy is formulated to set the star separation protection time, and a star separation program can be started after the protection is released;

aiming at the situation that the star computer does not judge the star after separation after actual separation, a countermeasure is formulated that the star software should have the function of forcedly starting a flight program, and the function should take measures to reliably protect and prevent ground false instructions from false triggering.

The star software should adopt overtime judgment to the gesture in place signal, set waiting time, and exit the program control flow if overtime; and judging overtime is adopted for the in-place unfolding signal of the sailboard, waiting time is set, and the program control process is exited after overtime.

The invention provides a program control method suitable for an autonomous sailboard after satellite and arrow separation for the first time, which can improve timeliness, safety and reliability of sailboard deployment after satellite and arrow separation, lighten the pressure of ground measurement and control of a satellite launching orbit section, lay a foundation for smooth satellite launching orbit, and has good engineering application value.

The foregoing is a basic embodiment of the present invention, and a further description of the technical solution of the present invention is provided below by means of a preferred embodiment.

Example 1

The invention aims to solve the technical problem of providing a program control method for an autonomous sailboard after satellite and arrow separation, which mainly uses on-board satellite computer program control and is assisted by ground measurement and control after the satellite and arrow separation, and establishes a practical and effective protection strategy for abnormal reading of satellite and arrow separation signals and other external input anomalies, so that ground control steps are simplified, and the reliability of sailboard unfolding is improved.

Referring to fig. 3, the first part is a normal program control flow for normal reading and judging of external signals. The program control of the satellite autonomous sailboard after the separation of the satellite and the arrow comprises three stages: and (5) preparing the unfolding of the sailboard, unfolding of the sailboard and preparing the driving of the sailboard. Each stage is automatically triggered by the star computer according to the judging result of the external signal.

Wherein, the sailboard is spread and is prepared: the satellite computer reads the satellite-rocket separation signal and judges the current satellite-rocket separation state in each software period, and the judging mechanism should be designed with reliability, for example, the satellite is considered to enter the 'satellite-rocket separation state' after the satellite-rocket separation signal is read for a plurality of times in each software period and judged to be separated in the real state of the current separation signal and a plurality of continuous software periods. When the state before the separation of the star arrow is changed into the state after the separation of the star arrow, a star arrow separation program is started, an instruction for preparing for the unfolding of the sailboard (such as connecting a initiating explosive device normal line and an initiating explosive device ground line) is automatically sent, and then the state of waiting for the posture is in place is entered.

And (3) unfolding a sailboard: when the star computer waits for the attitude to be in place, the attitude to be in place signal set by the attitude track control subsystem is read every cycle (telemetry state or bus message transmission can be set) and the current attitude state is judged, and a judgment mechanism performs reliability design, for example, a plurality of continuous software periods are all read to be in place, and the current attitude to be in place is considered. When the state of 'posture not in place' is changed into 'posture in place', a sailboard unfolding instruction (such as detonating a solar array pressing point) is sent autonomously, and then a state of waiting for sailboard in place is entered.

Sailboard driving preparation: the star computer waits for the sailboard to be in place, reads the sailboard in place signal (generally through direct telemetry transmission, a plurality of in place signals can be arranged on each wing) every cycle and judges the current sailboard unfolding state, and the judging mechanism is used for reliability design, for example, for each unfolding in place signal, a plurality of continuous software cycles are needed to be in place, the signal is considered to be unfolded in place, and if and only if all the signals are in place, the signal can be considered to be in the sailboard in place. When the 'sailboard not in place' is jumped to the 'sailboard in place', the gesture control subsystem is informed that the sailboard is unfolded in place, and meanwhile, a corresponding driving single machine power-on instruction is sent autonomously, so that the control end and the execution end both have sailboard driving conditions.

The second part is the processing flow when the external signal is abnormal. In the satellite and rocket separation program control, external signals to be read include: the satellite and rocket separated signals, the gesture in-place signals and the sailboard unfolding in-place signals.

Wherein, satellite and arrow separation signals: the abnormal conditions can be divided into two categories, namely, the actual state after the separation of the satellites and the satellites is judged by a satellite computer, and the actual state after the separation of the satellites and the satellites is judged by the satellite computer. Aiming at the first situation, adopting protective measures, setting 'satellite and arrow separation protection time', and starting a satellite and arrow separation program after protection is released; aiming at the second condition, the star software has the function of receiving a manual start star arrow separation program, when a specific instruction is received, the star arrow separation state is not judged, the star arrow separation program is directly started, the triggering mode is designed to be reliable, and at least two instructions trigger or password protection is set for the triggering instruction.

Gesture in place signal: the abnormal situation is that the attitude and orbit control subsystem does not put an attitude in-place signal all the time. For this situation, the star software should not wait continuously, and a timeout exit mechanism should be set to prevent the software from entering infinite wait.

Sailboard deployment in place signal: the exception is that the windsurfing board is not in place at all times. For this situation, the star software should not wait continuously, and a timeout exit mechanism should be set to prevent the software from entering infinite wait.

The following takes a low orbit satellite for distributing a CZ-4C rocket as an example, and a preferred embodiment of the invention is given by combining the accompanying drawings, so as to describe the technical scheme of the invention in detail. The satellite adopts a double-wing solar array, each wing compresses a solar sailboard on a satellite body through a compression point, the solar sailboard is detonated to be passively unfolded through the compression point, and each wing is designed with 2 in-place unfolding signals. The driving of the solar sailboard is performed by a driver control and a driving mechanism, and the driver and the driving mechanism active section are not powered.

Referring to fig. 4, the star software pre-stores a star arrow separation protection time T0 (rocket ignition time) and a star arrow separation protection interval deltat 0 (the duration between the predicted ignition time and the secondary shutdown time of the three-stage engine of the carrier rocket), and the latest protection time and protection interval are injected into the star computer according to the actual state before launching. When the satellite time is between (T0+Deltat0), the satellite-arrow separation signal is normally judged, and the satellite-arrow separation program is not started.

And then the star computer judges the star-arrow separation state every cycle, and after the star-arrow separation signals are separated for N times in each cycle, the star-arrow separation signals are considered to be separated, otherwise, the star-arrow separation signals are considered to be before the separation. And after the continuous N0 periods are all judged to be separated, the star computer enters a 'state after the separation of the star arrow'. If the satellite-arrow separation protection is released at this time, a satellite-arrow separation program is started, namely at the time T1.

If the satellite and rocket separation program is actually separated but the satellite and rocket separation program is not started by the satellite and rocket computer, two instructions of 'flight program forced enabling' and 'flight program forced starting' can be sequentially uploaded on the ground, and the satellite and rocket separation program is started, namely, the moment T1. The manual-triggered satellite-arrow separation procedure is identical to the procedure triggered by the normal satellite-arrow separation signal.

The star computer program control sends related instructions for preparing the sailboard to be unfolded, such as the connection of a storage battery discharging switch, the connection of a initiating explosive device standard line, the connection of a initiating explosive device ground wire and the like, and then enters a waiting posture in place state, namely the moment T1'.

After the star computer enters a waiting posture in-place state, each cycle reads a posture in-place signal sent by the posture track control subsystem through a certain type of specific bus message, and after the posture track control is initially biased, the star computer is notified through the bus message. If the star computer receives the gesture in-place signal in (T1' +Deltat1), entering the subsequent program control, namely, the moment T2; otherwise, the satellite and arrow separation procedure is exited.

After the star computer judges that the gesture is in place, program control sends initiating explosive device detonating instructions, each instruction is sent for 3 times in order to ensure reliable sending of the instructions, and then the star computer enters a state of waiting for the sailboard to be unfolded in place, namely the moment T2'.

After the star computer enters a state of waiting for the sailboard to be unfolded, reading the sailboard unfolding in-place signals every cycle, and entering the sailboard unfolding in-place state if and only if the 4 unfolding locking in-place signals are all in-place in N2 continuous cycles. If the star computer enters a ' sailboard unfolding in-place state ' in (T2 ' +delta T2), entering a subsequent program control, namely at the moment T3; otherwise, the satellite and arrow separation procedure is exited.

Finally, when the star computer enters a 'sailboard unfolding in-place state', the gesture track control subsystem is informed of the sailboard unfolding in-place, and a power-on instruction of the driver and a power-on instruction of the driving mechanism are sent in a program control mode.

The solar sailboard program-controlled unfolding method of the star computer can effectively reduce the risk caused by ground judging and sending errors, shorten the judging time of sending and sending time, effectively shorten the instruction path and improve the unfolding reliability of the sailboard after the star is separated; after the satellites and the arrows are separated, the sailboard unfolding control takes the satellite computer program control on the satellites as the main part and the ground measurement and control as the auxiliary part, and establishes a practical and effective protection strategy aiming at the abnormal reading of the satellite and the arrow separation signals and other external input anomalies, so that the ground control step is simplified, and the provided method is practical and feasible, and has higher popularization value and adaptability, and the method is applied to a satellite and arrow separation program control scheme of a certain low-orbit satellite.

The invention also provides a program control system for the autonomous sailboard after satellite and arrow separation, which can be realized by executing the flow steps of the program control method for the autonomous sailboard after satellite and arrow separation, namely, the program control method for the autonomous sailboard after satellite and arrow separation can be understood as a preferred implementation mode of the program control system for the autonomous sailboard after satellite and arrow separation by a person skilled in the art.

Specifically, a program control system for an autonomous sailboard after satellite and rocket separation comprises:

module M1: the star computer periodically judges the separation state of the star arrow;

the star computer is provided with star software;

module M2: the star computer gives an instruction based on the signal parameters to complete the unfolding program control of the sailboard;

the signals include a pose in place signal and a unwrap in place signal.

The satellite-rocket separation state comprises a state before satellite-rocket separation and a state after satellite-rocket separation; if the state of separating the satellites and the arrows is changed from the state before separating the satellites and the arrows to the state after separating the satellites and the arrows, starting a satellite and arrow separation program; the separation procedure comprises a sailboard unfolding preparation procedure, a sailboard unfolding procedure and a sailboard driving preparation procedure.

The module M2 comprises the following sub-modules:

module M2.1: pre-storing a satellite-arrow separation protection time and a satellite-arrow separation protection interval by the star software, and injecting the latest protection time and the latest protection interval into the star computer according to the actual state before launching;

module M2.2: the star computer periodically judges the separation state of the star arrow; if the separation state is continuously judged to reach the preset times, the star computer enters a state after the star arrow is separated; if the satellite-arrow separation protection is released at this time, starting a satellite-arrow separation program;

module M2.3: the star computer program control sends a relevant instruction for preparing sailboard to be unfolded, and enters a waiting posture in place state;

module M2.4: reading a posture in-place signal every period, and informing a star computer through a bus message after the posture track control is initially biased; the attitude in-place signal is sent out through a specific bus message based on an attitude track control subsystem;

module M2.5: after the star computer judges that the gesture is in place, the star computer program-control sends a initiating explosive device initiation instruction to enter a state of waiting for the sailboard to be unfolded in place;

module M2.6: reading a sailboard unfolding in-place signal every cycle;

module M2.7: and (3) unfolding the sailboard of the attitude and orbit control subsystem to a preset position, and sending a power-up instruction of the driver and a power-up instruction of the driving mechanism in a program control manner.

The sailboard unfolding preparation comprises the steps that after a star computer enters a star arrow separation program control, a initiating explosive device normal line and a ground line are automatically connected and other program control is carried out; the sailboard unfolding comprises the steps of sending an instruction according to a time sequence after the satellite gesture is adjusted to a preset value, and carrying out solar sailboard unfolding; the instruction comprises a initiating explosive device initiation instruction; the sailboard driving preparation comprises the steps that after a star computer judges that the sailboard is unfolded to reach a preset position, an attitude rail control sailboard unfolded in-place signal is sent, and a stand-alone machine for gesture preparation control is powered on; the single machine comprises a solar array driver and a solar array driving mechanism.

The signal for judging the satellite-rocket separation state by the satellite computer is a state judged by satellite computer software through a judging method, and is not an external signal state; the sailboard unfolding preparation flow comprises preset conditions for program control guarantee sailboard unfolding and attitude control.

The star software triggers and starts a sailboard unfolding preparation process by a star arrow separation signal, triggers and starts the sailboard unfolding program control by a gesture track in-place signal, and triggers and starts a sailboard unfolding preparation process to a preset position by an unfolding locking in-place signal.

The star computer makes a protection strategy when judging that the star is in a state after the separation before the actual separation, and makes a coping strategy in other situations; the other situations include that the state after the satellite and the arrow are separated is not judged after the actual separation, the gesture in-place signal is not received, and the sailboard unfolding in-place signal is not received.

The protection strategy comprises the steps of setting a satellite-arrow separation protection time, and starting a satellite-arrow separation program after protection is released; the coping strategy comprises that the star software judges overtime of the gesture in-place signal or the sailboard in-place signal, and if the gesture in-place signal or the sailboard in-place signal exceeds the preset time, the program control process is exited.

The star software takes measures to protect based on the forced starting of the flight program function.

Those skilled in the art will appreciate that the invention provides a system and its individual devices, modules, units, etc. that can be implemented entirely by logic programming of method steps, in addition to being implemented as pure computer readable program code, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units for realizing various functions included in the system can also be regarded as structures in the hardware component; means, modules, and units for implementing the various functions may also be considered as either software modules for implementing the methods or structures within hardware components.

The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.

Claims (10)

1. A programmed method for autonomous sailboard after satellite rocket separation, comprising:

step S1: the star computer periodically judges the separation state of the star arrow;

the star computer is provided with star software;

step S2: the star computer gives an instruction based on the signal parameters to complete the unfolding program control of the sailboard;

the signals include a pose in place signal and a unwrap in place signal.

2. The method for autonomous sailboard after satellite rocket separation of claim 1, wherein the rocket separation state includes a pre-rocket separation state and a post-rocket separation state; if the state of separating the satellites and the arrows is changed from the state before separating the satellites and the arrows to the state after separating the satellites and the arrows, starting a satellite and arrow separation program; the separation procedure comprises a sailboard unfolding preparation procedure, a sailboard unfolding procedure and a sailboard driving preparation procedure.

3. The method according to claim 2, wherein said step S2 comprises the sub-steps of:

step S2.1: pre-storing a satellite-arrow separation protection time and a satellite-arrow separation protection interval by the star software, and injecting the latest protection time and the latest protection interval into the star computer according to the actual state before launching;

step S2.2: the star computer periodically judges the separation state of the star arrow; if the separation state is continuously judged to reach the preset times, the star computer enters a state after the star arrow is separated; if the satellite-arrow separation protection is released at this time, starting a satellite-arrow separation program;

step S2.3: the star computer program control sends a relevant instruction for preparing sailboard to be unfolded, and enters a waiting posture in place state;

step S2.4: reading a posture in-place signal every period, and informing a star computer through a bus message after the posture track control is initially biased; the attitude in-place signal is sent out through a specific bus message based on an attitude track control subsystem;

step S2.5: after the star computer judges that the gesture is in place, the star computer program-control sends a initiating explosive device initiation instruction to enter a state of waiting for the sailboard to be unfolded in place;

step S2.6: reading a sailboard unfolding in-place signal every cycle;

step S2.7: and (3) unfolding the sailboard of the attitude and orbit control subsystem to a preset position, and sending a power-up instruction of the driver and a power-up instruction of the driving mechanism in a program control manner.

4. The method for automatically expanding a sailboard after satellite and arrow separation according to claim 2, wherein the sailboard expanding preparation comprises automatically switching on a initiating explosive device standard line and a ground line and performing other program control after a satellite computer enters the satellite and arrow separation program control; the sailboard unfolding comprises the steps of sending an instruction according to a time sequence after the satellite gesture is adjusted to a preset value, and carrying out solar sailboard unfolding; the instruction comprises a initiating explosive device initiation instruction; the sailboard driving preparation comprises the steps that after a star computer judges that the sailboard is unfolded to reach a preset position, an attitude rail control sailboard unfolded in-place signal is sent, and a stand-alone machine for gesture preparation control is powered on; the single machine comprises a solar array driver and a solar array driving mechanism.

5. The program control method for an autonomous sailboard after satellite and arrow separation according to claim 4, wherein the signal of the satellite computer judging the satellite and arrow separation state is a state judged by the satellite computer software through the judging method, and is not an external signal state; the sailboard unfolding preparation flow comprises preset conditions for program control guarantee sailboard unfolding and attitude control.

6. The method for automatically expanding a sailboard after satellite and arrow separation according to claim 2, wherein the satellite software triggers a sailboard expansion preparation procedure by a satellite and arrow separation signal, triggers a sailboard expansion procedure by a gesture track in-place signal, and triggers a sailboard driving preparation procedure for starting the sailboard to be expanded to a preset position by an expansion locking in-place signal.

7. The program control method for an autonomous sailboard after satellite and arrow separation according to claim 2, wherein the satellite computer makes a protection strategy when judging that the satellite and arrow is in a post-separation state before actual separation, and makes a coping strategy in other cases; the other situations include that the state after the satellite and the arrow are separated is not judged after the actual separation, the gesture in-place signal is not received, and the sailboard unfolding in-place signal is not received.

8. The method for autonomous sailboard programming after satellite rocket separation of claim 7, wherein the protection strategy includes setting a rocket separation protection time, and starting a rocket separation program after the protection is released; the coping strategy comprises that the star software judges overtime of the gesture in-place signal or the sailboard in-place signal, and if the gesture in-place signal or the sailboard in-place signal exceeds the preset time, the program control process is exited.

9. The method for autonomous sailboard programming after satellite rocket separation of claim 7, wherein the software for the satellite services takes action to protect based on a forced start flight procedure function.

10. A programmed control system for an autonomous sailboard after satellite-rocket separation, comprising:

module M1: the star computer periodically judges the separation state of the star arrow;

the star computer is provided with star software;

module M2: the star computer gives an instruction based on the signal parameters to complete the unfolding program control of the sailboard;

the signals include a pose in place signal and a unwrap in place signal.