RU2490697C1 - Method for functional control and backup of spacecraft angular velocity measurement channel boards and apparatus for realising said method - Google Patents

Abstract

FIELD: information technology.

SUBSTANCE: method for functional backup of a measurement channel is characterised by that increment signals of each of the four backup signals over a certain period of time are determined and the used to generate a "median" signal for each of the three backup measured angular velocity signals; each "median" signal is used to calculate one of the corresponding backup increment signals and when each of the obtained differences exceeds a first threshold signal, an uncertainty signal for said signal is generated, and when "median" signals exceed a second threshold signal, an uncertainty signal for the "median" signal is generated. The apparatus which realises the backup method is characterised by that it includes median signal limiting units, uncertainty signal generators; outputs of all bidirectional counters are connected through corresponding uncertainty signal generators to the corresponding outputs of the apparatus; second inputs of the first, second, third and fourth uncertainty signal generators are respectively connected to the first, second, third and fourth inputs of the apparatus and inputs of the first, second, third and fourth median signal limiting units, respectively. The uncertainty signal generators are identical and are in form of series-connected first adder, second adder and nonlinear unit; the output of the bidirectional counter is connected through a delay unit to the first and second inputs of the first adder, respectively; the first and second inputs of the second adder are respectively connected to the second output and second input of the uncertainty signal generator.

EFFECT: high reliability of operation of the spacecraft angular velocity measurement channel.

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Description

The invention relates to the field of redundancy and improving the reliability of the operation of complex electronic devices, and in particular to methods and devices for reservation of boards of the measuring gyroscopic channel in rocket technology.

There is a method of functional reservation of the measuring channel of a spacecraft, which consists in measuring the angular velocity signal along the 4-axis of the spacecraft and triple reservation of the measured signals [1].

A device for functional reservation of a measuring channel of a spacecraft is also known, which contains three circuit boards, each of which has four reversible counters, the input of the first, second, third and fourth reversible counters of each circuit is connected to the output of the first, second, third and fourth gyroscopes, respectively [ one].

The disadvantages of the known method and device of functional control and reservation of the measuring channel of the spacecraft include the low reliability of the measuring channel.

In order to increase the reliability of the method of functional control and reservation of the measuring channel of the spacecraft’s angular velocity, the increment signals of each of the four reserved signals for a certain time interval are determined, a “median” signal is formed from them for each of the three reserved angular velocity signals, from a signal of each “median »Subtract one of the corresponding redundant increment signals and when each of the differences obtained exceeds the first threshold signal pho an invalid signal of this signal is generated, and when the median signals exceed the second threshold signal, an invalid signal of the median signal is generated.

The device for functional control and reservation of the measuring channel of the spacecraft is characterized in that it contains median signal restriction blocks, unreliability signal conditioners, the outputs of all reversible counters are connected to the corresponding device outputs through the corresponding unreliability signal conditioners, the second inputs of the first, second, third and fourth signal conditioners the uncertainties are connected respectively with the first, second, third and fourth inputs of the device and inputs with responsibly first, second, third and fourth signal limitation unit "median".

In this case, the uncertainty signal generators are made identical in the form of a series-connected first adder, a second adder and a non-linear block, the output of the reverse counter is connected directly through the delay unit to the first and second inputs of the first adder, respectively, the first and second inputs of the second adder are connected respectively to the second output and second the input of the driver of the signal of uncertainty.

The essence of the invention is illustrated in figure 1, figure 2, figure 3 and figure 4.

Figure 1 shows the structural diagram of the device functional reservation of the measuring channel of the spacecraft, figure 2 - structure of the driver of the signal of uncertainty, figure 3 is a static characteristic of a nonlinear block, and figure 4 is a static characteristic of the block limiting signal "median", on which the following designations were adopted:

1, 2, 3, 4 - respectively, the first, second, third and fourth gyroscopes;

5, 6, 7 - respectively, the first, second and third (mounting) board; 8, 9, 10, 11 - respectively, the first, second, third and fourth reversible counters of the first board 5;

12, 13, 14, 15 - respectively, the first, second, third and fourth reversible counters of the second board 6;

16, 17, 18, 19 - respectively, the first, second, third and fourth reversible counters of the third board 7;

20, 21, 22, 23 - respectively, the first, second, third, fourth drivers of the signal of unreliability of the first board 5;

24, 25, 26, 27 - respectively, the first, second, third, fourth drivers of the signal of unreliability of the second board 6;

28, 29, 30, 31 - respectively, the first, second, third, fourth shapers of the signal of unreliability of the third board 7;

32, 33, 34, 35 - respectively, the first, second, third, fourth blocks of the signal limit of the "median";

36, 37, 38, 39 - respectively, the first, second, third and fourth inputs of the device are the inputs to which the signals of the "median";

40, 41, 42, 43 - respectively, the outputs of the first, second, third and fourth gyroscopes;

44, 45, 46, 47 - respectively, the first, second, third, fourth outputs of the first board 5; 48, 49, 50, 51 - the second board 6; 52, 53, 54, 55 of the third board 7, and outputs 44-55 are the first outputs of the device, outputs 56-67 are the second;

56, 57, 58, 59 - respectively, the first, second, third, fourth outputs of the first board 5; 60, 61, 62, 63 — second boards 6 and 64, 65, 66, 67 — third boards 7, and outputs 68, 69, 70, 71 — first, second, third, fourth outputs of the “median” signal restriction blocks, respectively 32 , 33, 34, 35;

72 is a block of pure delay;

73 - non-linear block;

74 - first, 75 - second adders.

There is a device that implements a method of functional control and reservation of boards measuring channel of the angular velocity of the aircraft, as follows (see figure 1).

The first, second, third and fourth gyroscopes measure the angular velocity of the spacecraft. At the same time, we obtain signals 40, 41, 42, and 43 at their outputs, respectively. Each of the angular velocity signals from the gyroscope output comes to the input of one of the four reverse counters of each of the boards 5, 6, 7. On each board there are four measuring channels identical in structure in the form of series-connected reverse counter and driver of the signal of uncertainty. For the first measurement channel of the first board 5, the measuring channel consists of the first reversible counter 8 and the first signal shaper 20. If the first signal of the median 36 for the first measuring channel 5 exceeds the limit set in the first block of the signal limit of the median 32, then the output of the first signal shaper 20, we get a signal 44 (not equal to zero), which indicates the inaccuracy of the measurement signal 40. The correct measurement of the signal of the angular velocity 40 indicates zero s nal zero signal 44 and median 68.

Identical channels for the second board 6 are the connection of the second reverse counter 12 and the second fault signal generator 24, the first median signal 36 and the first median 32 signal limiting block, for the third board 7, the connection of the third reverse counter 16, the third uncertainty signal generator 28, the first signal the median 36 and the first block of the signal restriction of the median 32.

Similarly, measuring channels from the other three gyroscopes 2, 3, and 4 are built and operate.

Identifiers of the uncertainty signal are also constructed identically. Figure 2 shows an example of the construction of such a shaper, consisting of a series connection of the block of net delay 72, the first adder 74, the second adder 75 and the nonlinear block 73.

для всех блоков ограничения сигнала медианы разным. Последний определяется с использованием трех идентичных каналов каждой платы. Для первого канала $${\Delta }_{1\text{}доп}^m$$

определяется по сигналам приращений 56, 60 и 64, для второго - по сигналам приращений 57, 61 и 65, для третьего - по сигналам приращений 58, 62 и 66, а для четвертого - по сигналам приращений 59, 63 и 67.In this case, the first threshold signal u _{2 is} set in all non-linear blocks 73 (Fig. 3) the same, and the second threshold signal $${\Delta }_{\mathrm{one}\text{A.}d\mathrm{about}P}^m$$

for all blocks, the median signal limits are different. The latter is determined using three identical channels of each board. For the first channel $${\Delta }_{\mathrm{one}\text{A.}d\mathrm{about}P}^m$$

is determined by the signals of increments 56, 60 and 64, for the second - by the signals of increments 57, 61 and 65, for the third - by the signals of increments 58, 62 and 66, and for the fourth - by the signals of increments 59, 63 and 67.

, который, как видно из фиг.2, является сигналом 56. Аналогично получаются сигналы 60 и 64 на выходах первого канала соответственно второй 6 и третьей 7 плат. Далее сигналы $${\Delta }_{\mathrm{1,}}^1{\Delta }_2^1,{\Delta }_3^1$$

используются для определения первого сигнала медианы 36 по следующему правилу:Using the example of the first driver of an unreliability signal 20, we consider the process of its functioning. The signal 40 from the output of the first gyroscope through the reversible counter 8 is fed to the first input of the first adder 74, its second signal receives a signal delayed in the block of pure delay 72 per clock cycle (0.1 sec), which is subtracted from the signal from the output of counter 8. As a result an increment signal is obtained $${\Delta }_{\mathrm{one}}^{\mathrm{one}}$$

, which, as can be seen from figure 2, is a signal 56. Similarly, signals 60 and 64 are obtained at the outputs of the first channel, respectively, of the second 6 and third 7 boards. Further signals $${\Delta }_{\mathrm{one,}}^{\mathrm{one}}{\Delta }_2^{\mathrm{one}},{\Delta }_3^{\mathrm{one}}$$

are used to determine the first signal of median 36 according to the following rule:

- if any two increment signals coincide, then the median signal is equal to one of these increments;

- if one of the increments is the average of three increments, then it is selected as the median signal.

In the event that two increments coincide and are equal to zero, the value of the third nonzero increment is taken as the median signal.

, если для первой и второй плат 5 и 6 $${\Delta }_1^1={\Delta }_1^2=\mathrm{0,}\text{ a }{\Delta }_1^3\ne 0$$

.For the first channel of the third board 7 $${\Delta }_{\mathrm{one}}^m={\Delta }_{\mathrm{one}}^3$$

if for the first and second boards 5 and 6 $${\Delta }_{\mathrm{one}}^{\mathrm{one}}={\Delta }_{\mathrm{one}}^2=0\text{a}{\Delta }_{\mathrm{one}}^3\ne 0$$

.

The median signal setter according to the above algorithm is not indicated in FIG. 1.

формируется на выходе сумматора 75 сигнал $${\Delta }_1^m-{\Delta }_1^1,$$

и если он превышает первый пороговый сигнал |u₁|, то сигнал угловой скорости ω₁ на выходе первого реверсивного счетчика 8 недостоверен, а если на выходе первого нелинейного блок 73 равен нулю, то сигнал ω₁ считается достоверным.Next, after receiving the median signal $${\Delta }_{\mathrm{one}}^m$$

signal is generated at the output of the adder 75 $${\Delta }_{\mathrm{one}}^m-{\Delta }_{\mathrm{one}}^{\mathrm{one}},$$

and if it exceeds the first threshold signal | u ₁ |, then the angular velocity signal ω ₁ at the output of the first reversible counter 8 is unreliable, and if the output of the first nonlinear block 73 is zero, then the signal ω ₁ is considered reliable.

Thus, the functional control and backup device has four channels for verifying the accuracy of measurements of each gyroscope on each board. In total, twelve measurement channels are obtained. A failed board is considered to be a board on which all four channels provide false information about the angular velocity from the spacecraft, i.e. on all outputs 44-47 of the first board 5, or 48-51 of the second board 6, or 52-55 of the third board 7.

Thus, the zero signals at the outputs of non-linear blocks 73 for the first channel of the board 5 signal the health of the boards, because there are three identical boards, then in this case there is a threefold reservation of functionally tested serviceable three boards 5, 6, 7.

The technical result from the use of the claimed technical solution (method and device that implements it) is to increase the reliability of the boards with reliable information about the measured angular velocity from the rotation of the spacecraft.

The inventive step of the claimed method and device that implements it is confirmed by the distinctive part of claims 1, 2, 3 of the claims.

Literature

1. M. Kostkin, P. Pozdnyakov, A. Popovich. The concept of the information and control system of the spacecraft. Electronics: Science, Technology Business. - No. 4. 2008. p. 85-88 (prototype).

Claims (3)

1. A method of functional control and reservation of boards of the measuring channel of the angular velocity of the spacecraft, which consists in simultaneously measuring the signals of the projections of the angular velocity vector of the spacecraft on the non-orthogonal sensitivity axes of four uniaxial gyroscopic angular velocity meters and in triple reservation of the measured signals, characterized in that they determine the increment signals each of four reserved signals for a certain time interval, form from them for of each of the three reserved measured signals of angular velocity, the signal is “median”, one of the corresponding reserved signals of increments is subtracted from the signal of each “median”, and when each of the differences obtained exceeds the first threshold signal, an unreliability signal of this signal is generated, and if the signals exceed the second threshold signal form a signal of inaccuracy of the signal "median". 2. The device for implementing the method according to claim 1, containing three circuit boards, on each of which four reverse counters are installed, the input of the first, second, third and fourth reverse counters of each board are connected to the output of the first, second, third and fourth gyroscopes, respectively , characterized in that it contains the median signal restriction blocks, the uncertainty signal conditioners, the outputs of all reverse counters through the corresponding uncertainty signal conditioners are connected to the corresponding m outputs of the device, the second inputs of the first, second, third and fourth drivers of the signal of unreliability are connected respectively with the first, second, third and fourth inputs of the device and the inputs of the first, second, third and fourth blocks of the signal limitation of the "median". 3. The device according to claim 2, characterized in that the formers of the uncertainty signal are identical in the form of series-connected first adder, second adder and non-linear block, the output of the reversible counter is connected directly through the delay unit to the first and second inputs of the first adder, the first and second the inputs of the second adder are connected respectively to the second output and the second input of the driver of the signal of uncertainty.

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