JPH0478517B2 - - Google Patents
Info
- Publication number
- JPH0478517B2 JPH0478517B2 JP58056786A JP5678683A JPH0478517B2 JP H0478517 B2 JPH0478517 B2 JP H0478517B2 JP 58056786 A JP58056786 A JP 58056786A JP 5678683 A JP5678683 A JP 5678683A JP H0478517 B2 JPH0478517 B2 JP H0478517B2
- Authority
- JP
- Japan
- Prior art keywords
- attitude
- control
- satellite
- attitude control
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000001514 detection method Methods 0.000 claims description 41
- 230000005856 abnormality Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0077—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements using redundant signals or controls
-
- 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
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】
この発明は１台又は複数台のデジタル計算機に
より衛星の姿勢制御を行う場合、計算機の故障に
ともなう衛星の姿勢の混乱を防止するための手段
を備えた姿勢制御装置の改良に関するものであ
る。DETAILED DESCRIPTION OF THE INVENTION The present invention provides an attitude control device that is equipped with means for preventing disruption of the satellite's attitude due to computer failure when the attitude of a satellite is controlled by one or more digital computers. It is about improvement.
第１図にデジタル計算機を用いた姿勢制御装置
の従来の構成例を示す。図において１は衛星の姿
勢状態を検知し姿勢誤差信号を出力する姿勢検出
装置、２はデジタル計算機による姿勢制御回路、
３は冗長の姿勢制御回路、４は姿勢制御回路２，
３から出力される制御信号に応じて衛星に制御ト
ルクを与える制御トルク発生装置、５は姿勢検出
装置１及び制御トルク発生装置４と姿勢制御回路
２，３の間を連結する入出力制御装置、６は姿勢
制御回路２，３の切替装置である。 FIG. 1 shows an example of a conventional configuration of an attitude control device using a digital computer. In the figure, 1 is an attitude detection device that detects the attitude state of the satellite and outputs an attitude error signal, 2 is an attitude control circuit using a digital computer,
3 is a redundant attitude control circuit, 4 is an attitude control circuit 2,
3 is a control torque generator that applies a control torque to the satellite in accordance with the control signal output from 3; 5 is an input/output controller that connects the attitude detection device 1 and the control torque generator 4 to the attitude control circuits 2 and 3; 6 is a switching device for the attitude control circuits 2 and 3.
姿勢検出装置１から出力された姿勢誤差信号は
入出力装置５で信号変換処理を受け姿勢制御回路
である計算機に入力される。計算機から誤差信号
に応じた制御出力信号が入出力装置５を通して制
御トルク発生装置４に入力され衛星の姿勢誤差を
修正する動作を行う。 The attitude error signal output from the attitude detection device 1 undergoes signal conversion processing at the input/output device 5 and is input to a computer serving as an attitude control circuit. A control output signal corresponding to the error signal from the computer is input to the control torque generator 4 through the input/output device 5, and an operation is performed to correct the attitude error of the satellite.
この状態で姿勢制御回路２に故障が発生した場
合、切替装置６により自動的に冗長の姿勢制御回
路３に切替り、姿勢制御を続行させるものであ
る。 If a failure occurs in the attitude control circuit 2 in this state, the switching device 6 automatically switches to the redundant attitude control circuit 3 to continue attitude control.
この場合、切替装置６に入力される故障判定入
力信号は、姿勢制御回路２の電源状態、計算機自
体の故障ステイタス等であり、故障の検出範囲が
計算機のードウエアに限定される。したがつて計
算機に格納されたプログラムの異常、姿勢検出装
置１及び制御トルク発生装置４の異常に対し関知
し得ないものであり、衛星に対して早急に衛星の
姿勢回復のため外部（地上局等）からの指令によ
り故障に対処する必要がある。また故障発生時
に、冗長の回路に切替つた時点における回路の初
期設定及び状態設定の操作を要し、姿勢制御され
ない状態が切替時に発生し衛星の姿勢に混乱が生
じる。 In this case, the failure determination input signal input to the switching device 6 is the power state of the attitude control circuit 2, the failure status of the computer itself, etc., and the failure detection range is limited to the computer hardware. Therefore, abnormalities in the program stored in the computer, abnormalities in the attitude detection device 1 and the control torque generation device 4 cannot be detected, and an external (ground station) It is necessary to deal with failures based on instructions from (e.g.). In addition, when a failure occurs, it is necessary to initialize and set the state of the circuit at the time of switching to a redundant circuit, and a state where attitude control is not performed occurs at the time of switching, causing confusion in the attitude of the satellite.
この発明はこれらの状態を避けるために切替装
置６に代り衛星の姿勢制御状況に応じて故障判定
を行う論理ならびに二次的な衛星の姿勢安定状態
に制御する回路を含む故障検出装置を採用するこ
とにより衛星の姿勢安定を維持させる。 In order to avoid these situations, the present invention employs a failure detection device in place of the switching device 6, which includes logic for determining failure according to the attitude control status of the satellite and a circuit for controlling the secondary attitude of the satellite to a stable state. This maintains the satellite's attitude stability.
第２図に発明の実施例を示す。 FIG. 2 shows an embodiment of the invention.
１は姿勢検出装置、２はデジタル計算機を用い
た姿勢制御回路、３は冗長の姿勢制御回路、４は
制御トルク発生装置、５は姿勢制御回路２，３と
姿勢検出装置１及び制御トルク発生装置４との間
の信号接続を行う入出力装置、７は故障検出装置
である。 1 is an attitude detection device, 2 is an attitude control circuit using a digital computer, 3 is a redundant attitude control circuit, 4 is a control torque generator, 5 is an attitude control circuit 2, 3, attitude detection device 1, and control torque generator 4 is an input/output device that performs signal connection between the two, and 7 is a failure detection device.
姿勢制御回路２の計算機の起動が指令されると
初期設定実施後、制御プログラムを実行し入出力
装置５を経由して入力された姿勢誤差信号に応じ
て制御出力信号を発生し、入出力装置５を経由し
て制御トルク発生装置４に入力され、衛星に姿勢
修正トルクを与える。 When the computer of the attitude control circuit 2 is instructed to start, after performing initial settings, it executes the control program, generates a control output signal in accordance with the attitude error signal input via the input/output device 5, and outputs a control output signal to the input/output device. 5 to the control torque generator 4, which provides an attitude correction torque to the satellite.
第３図に故障検出装置７の実施例を示す。 FIG. 3 shows an embodiment of the failure detection device 7.
故障検出装置７は、計算機故障検出部１０、姿
勢制御故障検出部１１、OR回路９及び小規模姿
勢制御回路８から構成される。小規模姿勢制御回
路８は姿勢制御回路２，３とは別個に衛星の姿勢
を二次的な安定状態に保つ小規模な姿勢制御機能
を持つものである。計算機故障検出部１０には計
算機が検出する誤り信号であるパリテイ−エラー
信号１２とCPU停止信号１３と電源異常信号１
４及び異常待時間信号１５が入力され計算機に関
係する故障の検出を行う。 The failure detection device 7 includes a computer failure detection section 10, an attitude control failure detection section 11, an OR circuit 9, and a small-scale attitude control circuit 8. The small-scale attitude control circuit 8 has a small-scale attitude control function that maintains the attitude of the satellite in a secondary stable state separately from the attitude control circuits 2 and 3. The computer failure detection unit 10 includes a parity error signal 12, which is an error signal detected by the computer, a CPU stop signal 13, and a power supply abnormality signal 1.
4 and an abnormal waiting time signal 15 are input to detect a failure related to the computer.
姿勢制御故障検出部１１には姿勢検出装置１か
らの姿勢信号１６と状態ステータス信号２０、姿
勢制御回路２，３から出力される制御モード信号
１７、制御トルク発生装置４からのモニタ信号１
８と状態信号２１が入力され姿勢制御装置の故障
検出を行う。計算機故障検出部１０及び姿勢制御
故障検出部１１からの信号はOR回路９を通して
故障検知信号２２となる。故障発生時には故障検
知信号２２により、姿勢制御回路２，３による姿
勢制御から小規模姿勢制御回路８による姿勢制御
に移行し、制御トルク発生装置４への制御信号１
９を出力し衛星の姿勢の安定維持を行う。 The attitude control failure detection unit 11 receives the attitude signal 16 and state status signal 20 from the attitude detection device 1, the control mode signal 17 output from the attitude control circuits 2 and 3, and the monitor signal 1 from the control torque generation device 4.
8 and a status signal 21 are input to detect a failure of the attitude control device. Signals from the computer failure detection section 10 and the attitude control failure detection section 11 pass through an OR circuit 9 and become a failure detection signal 22. When a failure occurs, the failure detection signal 22 causes a transition from attitude control by the attitude control circuits 2 and 3 to attitude control by the small-scale attitude control circuit 8, and a control signal 1 is sent to the control torque generator 4.
9 is output to maintain a stable attitude of the satellite.
このように故障検出装置７は計算機単体に関係
する故障に加えて姿勢検出装置１、制御トルク発
生装置４の状態を姿勢制御実行中に監視し故障判
定を行ものである。また故障発生時には小規模な
制御回路８で衛星を二次的な姿勢安定状態、例え
ば衛星の最大慣性主軸回りのスピン状態にし衛星
の姿勢の混乱ならびに自動的に冗長系に切替つた
時の二次故障の誘発を防ぐ。故障発生時でも衛星
の姿勢は安定状態となつているため、故障原因の
究明を行う機会があり、安全に制御機能を復帰さ
せることが可能となる。このように姿勢制御装置
が正常に動作している一次的な安全状態に対して
二次的安定状態に制御可能なモードを設定し、一
次的な安定状態における異常発生時に強制的に衛
星にこの二次安定状態をとらせ、一次安定状態に
おける故障原因の究明及び再び一次安定状態に復
帰させるための状態設定に時間的な余裕を作る必
要のあるシステム及び故障を最小限におさえる必
要のあるシステムに応用ができる。また故障検出
装置７は別途小容量の記憶装置を持つ計算機で代
替することも可能である。 In this manner, the failure detection device 7 monitors the status of the attitude detection device 1 and the control torque generation device 4 during execution of attitude control in addition to failures related to the computer itself, and determines failures. In addition, when a failure occurs, the small-scale control circuit 8 puts the satellite into a secondary attitude stable state, for example, a spin state around the satellite's maximum principal axis of inertia, preventing confusion in the satellite's attitude and automatically switching to a redundant system. Prevents failure from occurring. Since the satellite's attitude remains stable even when a failure occurs, there is an opportunity to investigate the cause of the failure, and it is possible to safely restore control functions. In this way, we set a controllable mode in the secondary stable state for the primary safe state in which the attitude control device is operating normally, and force the satellite to do this when an abnormality occurs in the primary stable state. Systems that require time to enter a secondary stable state, investigate the cause of failure in the primary stable state, and set the state to return to the primary stable state, and systems that must minimize failures. It can be applied to Furthermore, the failure detection device 7 can be replaced by a computer having a separate small-capacity storage device.
第１図は従来の姿勢制御装置の構成ブロツク
図、第２図はこの発明による姿勢制御装置の実施
例の構成ブロツク図、第３図は第２図の故障検出
回路の拡大ブロツク図である。
図中、１は姿勢検出装置、２は姿勢制御回路、
３は冗長姿勢制御回路、４は制御トルク発生装
置、５は入出力装置、６は切替装置、７は故障検
出装置、８は小規模姿勢制御回路、９はOR回
路、１０は計算機故障検出部、１１は姿勢制御故
障検出部である。１２はパリテイーエラー信号、
１３はCPU停止信号、１４は電源異常信号、１
５は異常待時間信号、１６は姿勢検出装置１から
出力される姿勢信号、１７は制御モード信号、１
８は制御トルク発生装置４からのモニタ信号、１
９は制御信号、２０は姿勢検出装置１の状態ステ
ータス信号、２１は制御トルク発生装置４の状態
信号、２２は故障検知信号である。なお図中同一
あるいは相当部分には同一符号を付して示してあ
る。
FIG. 1 is a block diagram of a conventional attitude control device, FIG. 2 is a block diagram of an embodiment of the attitude control device according to the present invention, and FIG. 3 is an enlarged block diagram of the failure detection circuit of FIG. In the figure, 1 is an attitude detection device, 2 is an attitude control circuit,
3 is a redundant attitude control circuit, 4 is a control torque generator, 5 is an input/output device, 6 is a switching device, 7 is a failure detection device, 8 is a small-scale attitude control circuit, 9 is an OR circuit, and 10 is a computer failure detection unit. , 11 is an attitude control failure detection unit. 12 is a parity error signal,
13 is the CPU stop signal, 14 is the power supply abnormality signal, 1
5 is an abnormal waiting time signal, 16 is an attitude signal output from the attitude detection device 1, 17 is a control mode signal, 1
8 is a monitor signal from the control torque generator 4, 1
9 is a control signal, 20 is a status signal of the attitude detection device 1, 21 is a status signal of the control torque generator 4, and 22 is a failure detection signal. Note that the same or corresponding parts in the figures are indicated by the same reference numerals.
Claims (1)
力する姿勢検出装置１と、上記姿勢検出装置から
出力された姿勢誤差信号を入力し、上記姿勢誤差
信号に応じた制御信号を出力する機能を有するデ
イジタル計算機を用いた姿勢制御回路２と、上記
姿勢制御回路２からの制御信号を入力し、衛星の
姿勢誤差を修正するように制御トルクを衛星に与
える制御トルク発生装置４と、冗長系の姿勢制御
回路３とを備えた衛星の姿勢制御装置において、
衛星の姿勢を、姿勢制御が正常に行われている一
次的な安定状態に比べて縮退している二次的な安
定状態に保つ小規模姿勢制御回路８と、上記デイ
ジタル計算機に関係する故障の検出を行う計算機
故障検出部１０と、上記姿勢検出装置１、上記姿
勢制御回路２，３および制御トルク発生装置４か
ら出力される姿勢に関する信号を入力して姿勢制
御装置の故障を検出する姿勢制御故障検出部１１
と、上記計算機故障検出部１０の出力と姿勢制御
故障検出部１１の出力とを入力し、故障検知信号
２２を得るOR回路９とを有し、故障発生時には
故障検知信号２２により、姿勢制御回路２，３に
よる一次的な姿勢制御モードから小規模姿勢制御
回路８による二次的な姿勢制御モードに移行し、
小規模姿勢制御回路８から制御トルク発生装置４
へ制御信号１９を出力し、衛星の姿勢安定維持を
行うための故障検出装置を付加したことを特徴す
る衛星の姿勢制御装置。1 An attitude detection device 1 that detects the attitude state of the satellite and outputs an attitude error signal, and a function that inputs the attitude error signal output from the attitude detection device and outputs a control signal according to the attitude error signal. an attitude control circuit 2 using a digital computer, a control torque generator 4 which inputs the control signal from the attitude control circuit 2 and applies a control torque to the satellite to correct the attitude error of the satellite, and a redundant system In a satellite attitude control device comprising an attitude control circuit 3,
A small-scale attitude control circuit 8 that maintains the attitude of the satellite in a secondary stable state that is degenerate compared to the primary stable state in which attitude control is normally performed, and a failure related to the digital computer described above. Attitude control that detects a failure of the attitude control device by inputting attitude-related signals outputted from the computer failure detection unit 10, the attitude detection device 1, the attitude control circuits 2, 3, and the control torque generation device 4. Failure detection section 11
and an OR circuit 9 which inputs the output of the computer failure detection section 10 and the output of the attitude control failure detection section 11 and obtains a failure detection signal 22, and when a failure occurs, the failure detection signal 22 is used to detect the attitude control circuit. 2 and 3 to a secondary attitude control mode using the small-scale attitude control circuit 8,
From the small-scale attitude control circuit 8 to the control torque generator 4
1. A satellite attitude control device characterized in that a failure detection device is added for outputting a control signal 19 to and maintaining a stable attitude of the satellite.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE3214386A DE3214386C2 (en) | 1982-04-20 | 1982-04-20 | Device for controlling the attitude of an artificial satellite |
| DE32143869 | 1982-04-20 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS58183391A JPS58183391A (en) | 1983-10-26 |
| JPH0478517B2 true JPH0478517B2 (en) | 1992-12-11 |
Family
ID=6161268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58056786A Granted JPS58183391A (en) | 1982-04-20 | 1983-03-31 | Controller for attitude of satellite |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JPS58183391A (en) |
| DE (1) | DE3214386C2 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9209569D0 (en) * | 1992-05-02 | 1992-06-17 | British Aerospace | Spacecraft control apparatus |
| US5951609A (en) * | 1997-05-29 | 1999-09-14 | Trw Inc. | Method and system for autonomous spacecraft control |
| DE19816978C1 (en) * | 1998-04-17 | 1999-11-04 | Daimler Chrysler Ag | Method for identifying an incorrectly measuring sensor in a spacecraft |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5131499A (en) * | 1974-07-05 | 1976-03-17 | Sperry Rand Corp | Kokukino jidohikoseigyosochi |
| JPS56154399A (en) * | 1980-04-28 | 1981-11-28 | Mitsubishi Electric Corp | Detecting system for trouble of revolution controller for artificial satellite |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3866025A (en) * | 1972-03-17 | 1975-02-11 | Rca Corp | Spacecraft attitude control system |
-
1982
- 1982-04-20 DE DE3214386A patent/DE3214386C2/en not_active Expired
-
1983
- 1983-03-31 JP JP58056786A patent/JPS58183391A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5131499A (en) * | 1974-07-05 | 1976-03-17 | Sperry Rand Corp | Kokukino jidohikoseigyosochi |
| JPS56154399A (en) * | 1980-04-28 | 1981-11-28 | Mitsubishi Electric Corp | Detecting system for trouble of revolution controller for artificial satellite |
Also Published As
| Publication number | Publication date |
|---|---|
| DE3214386A1 (en) | 1983-11-03 |
| JPS58183391A (en) | 1983-10-26 |
| DE3214386C2 (en) | 1987-01-02 |
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