RU2636384C1 - Method to control electric power supply system of space vehicle of increased survivability - Google Patents

Abstract

FIELD: electricity.SUBSTANCE: method to control electric power supply system of space vehicle (SV) of increased surviveability contains a photoelectric battery (PB), n storage batteries (SB) and n charging and discharging devices, and consists in the fact that the charging and discharging devices are controlled depending on PB illumination, level of the charge of all the SB, input and output voltage of the power supply system (PSS); prohibition of operation of the corresponding charging device is prevented when maximum level of charge of given SB is reached and this prohibition is cancelled at the level of charge of given SB reduces; prohibition of operation of the corresponding discharge device is prevented when a preset minimum level of charge of given SB is reached and this prohibition is cancelled at the level of charge of given SB increases; a control signal is formed to onboard control system of the SV for disconnecting a portion of onboard equipment in case of emergency discharge of several SB (m≤n) to minimum level of charge; e operation of all discharge devices is prohibited if PSS output voltage of power line is reduced to preset threshold value; the control signal is reset to upon prohibition of all discharge devices after all the SB are charged to a preset level of charge. Wherein, for communication with on-board computer system (OCS), performed on the duplicated main serial interface (multiplexed exchange channel), an end device (ED) with a controller is used as the interface device. Each charge-discharge device is equipped with main (ED) and backup (ED) end devices. The parameters (arrays) of PSS are checked with given interval to identify failure (operability) of each ED. The fact of exchange error is taken as a criterion for ED failure. After identification of EDfailure in any closed distribution system reload of EDsoftware is performed. The ED is reloaded by moving to the backup EDUwith subsequent return to the main ED. Repeat the sequence of these operations, in the event of ED failure, exchange continues using the ED, in case of repeated identification of the failure of the EDprogram transition to the backup end device EDis performed asing the appropriate CU, the sequence of operation of the EDis selected on a similar sequence of operation of the ED, return from the EDto EDis carried out by means of a single command from the ground control complex if necessary.EFFECT: improved reliability and survivability of power supply system functioning.2 dwg

Description

The present invention relates to electrical engineering, namely to autonomous power supply systems (BOT) of spacecraft (SC), using photovoltaic (BF) batteries as primary energy sources, and storage batteries (AB) as energy storage devices.

Among the measures aimed at improving the specific characteristics of BOTs, the introduction of a relatively new type of interface, namely, a multiplex communication channel (MCO) for the implementation of electrical communication between the on-board computer system (BVS) and the power supply system, should be included. However, the use of sophisticated electronic equipment as part of a BOT with a long active life, as a rule, leads to an increase in the likelihood of failures in it, including such as disturbances in the exchange between BVS and BOT. One of the causes of failures or malfunctions in the operation of the EEC is the impact on it of heavy charged particles (TZZ) or high-energy protons of outer space (EEP KP).

High-energy protons having a high speed of motion (up to 800-1000 km / s) overcome the force of gravity of the Sun and fall into near-Earth space. Heavy charged particles moving in outer space also at high speed are the nuclei of heavy elements, and their stars include distant stars (ON Korottsev. Astronomy for everyone, the ABC-Classica publishing house, St. Petersburg , 2008).

When a TZZ or VEP KP gets onto the microcircuit, the induced current pulse can lead to the opening of bipolar transistors and the parasitic thyristor structure falling into a low-resistance state. The result will be the formation of a short circuit between the power lines of the transistor, the loss of operability of the affected element and a sharp increase in the current consumption, which can lead to the "burnout" of the affected element and a functional failure. Such a mechanism of action of TZCh and VEP KP is commonly called the thyristor effect (TE) (AI Chumakov. The effect of cosmic radiation on integrated circuits. M., Radio and communications, 2004, 320 pp.).

It was experimentally established that the effect of TE can be stopped by removing power from the affected microcircuit. For integrated circuits (ICs) capable of being in the state of FCs for a considerable time without consequences (up to five minutes), the TE can be parried using software (A.S. Tararaksin et al. Techniques for investigating and preventing the development of catastrophic failure due to a single thyristor effect Proceedings of the All-Russian Scientific and Technical Conference "Problems of Developing Advanced Micro- and Nanoelectronic Systems" (MES-12), Institute for Design Problems in Microelectronics, RAS (IPPM RAS), Moscow, 2012).

A known method of controlling the power supply system of a spacecraft (Kirilin AN, Akhmetov RN, Storozh AD, Anshakov GP Space apparatus engineering. State scientific-production rocket and space center “TsSKB-Progress”, Samara, 2011, analogue), which consists in controlling charging and discharging devices depending on the input and output voltages of the power supply system; control the degree of charge of the batteries; a ban on the operation of the corresponding charger when the maximum charge level of the battery is reached and this ban is lifted when the charge level is reduced; a ban on the operation of the corresponding discharge device when the specified minimum charge level (or voltage) of the battery is reached and this ban is lifted when the charge level (voltage) of the battery is increased.

The disadvantage of the analogue is that it does not increase the survivability and reliability of the BOT in the event of a violation for any reason of the energy balance with the ensuing negative consequences.

A known method of controlling an autonomous power supply system of a spacecraft (RF patent for the invention No. 2467449, class Н02J 7/36, publ. 11/20/2012, bull. No. 32, prototype) containing a solar battery and n rechargeable batteries, a voltage regulator included between a solar battery and a load, and for n charging and discharging devices, consisting in controlling a voltage stabilizer, charging and discharging devices depending on the input and output voltages of the power supply system; control the degree of charge of the batteries; they prohibit the operation of the corresponding charger when the maximum charge level of this battery is reached and remove this ban when the charge level decreases; they prohibit the operation of the corresponding discharge device when the specified minimum charge level of this battery is reached and remove this ban when the charge level of this battery is increased; control the output voltage of the power system using a threshold sensor; in the event of an emergency discharge of several m (m≤n) batteries to the minimum charge level, a control signal is generated in the onboard control system of the spacecraft to disconnect part of the onboard equipment and remember it; in the event of an emergency discharge of all n working batteries to the minimum charge level, the ban on the operation of all discharge devices is lifted; if after storing the control signal the output voltage of the system decreases to a predetermined threshold value, the operation of all discharge devices is prohibited; resetting the memorization of the control signal is made after charging all the batteries or an external one-time command.

The disadvantage of the prototype is that it does not allow to increase the survivability and reliability of the BOT in the spacecraft under the influence of the damaging factors TZCh and VEP KP. It should be noted that the most vulnerable element of the BOT to the impact of the TZZ and VEP KP are terminal devices (DT), used in the BOT as a subscriber to the MCO.

The objective of the invention is to increase the reliability and survivability of the BOT in terms of significantly reducing the likelihood of an emergency due to a violation of the information exchange between the power supply system and the on-board computer system (BVS), carried out via a multiplex communication channel.

This problem is solved by the fact that in the method of controlling the power supply system of a spacecraft (SC) of increased survivability, comprising a photovoltaic battery (BF) and n rechargeable batteries (AB) and n charge and discharge devices, which consists in controlling charge and discharge devices depending on BF illumination, the degree of charge of all batteries, input and output voltage of the power supply system (BOT); the introduction of a ban on the operation of the corresponding discharge device when the specified minimum charge level of this battery is reached and the ban is lifted when the charge level of this battery is increased; the formation of a control signal in the onboard control system of the spacecraft to shut off part of the onboard equipment during an emergency discharge of several m (m≤n) batteries to the minimum charge level; the prohibition of the operation of all discharge devices, if the output voltage of the BOT is reduced to a predetermined threshold value; resetting the memorization of the control signal to prohibit all discharge devices after charging all the batteries to a predetermined charge level, in the power supply system for communication with the on-board computer system (BVS) via a duplicated main serial interface (multiplex communication channel), an end device is used as an interface device (OS) with a controller, and each charge-discharge device (switchgear _m ), consisting of one or more charging (discharge) devices, is equipped with m (op-amp _im ) and backup (op-amp _jm ) terminal devices; using the algorithm SEP UA from the onboard software with the specified frequency interrogating parameters (arrays) identifies and BOT failure (performance) of each op-amp _im; as a criterion for OS failure, the fact of an exchange error, for example, a mismatch of the checksums of the transmitted arrays, is taken; after identifying the failure of the op-amp _im in some indoor switchgear _m , the op-amp _{im is} programmed to be reset, for which, within the specified time interval, the necessary control commands (CU) are generated in accordance with the SEP algorithm, while the op-amp is rebooted, for example, by switching to the standby op-amp _jm followed by a return to the main OS _im; repeat the sequence of these operations; in the case of parrying the failure of the op-amp _{im, the} exchange is continued using the op-amp _im ; in case of failure of the OS reauthentication _im performed programmatically transition to standby terminal OS _jm, using the appropriate CG; the operating sequence of the op-amp _{jm is} chosen similar to the operating sequence of the op-amp _im ; the return from the op-amp _jm to the op-am _im, if necessary, is performed according to a one-time command from the ground control complex.

An example of the functional scheme of the SES in which the proposed method is implemented is shown in FIG. 1, where indicated:

1 - photoelectric battery;

2 - power excess regulator (RIM) BF;

3 ₁ ... 3 _n - chargers (chargers);

4 ₁ ... 4 _n - bit devices (RU);

5 ₁ ... 5 _n - storage batteries;

6 ₁ ... 6 _n - battery voltage monitoring device (UKNA);

7 - load SES (on-board equipment);

8 - sensor minimum voltage SEP (DMN);

9 - a logical element m of n;

10 - logical element And;

11, 12 ₁ ... 12 _n , 13 ₁ ... 13 _n , 14 ₁ ... 14 _n - RS triggers;

15 - a logical element And;

16 ₁ ... 16 _n , 17 ₁ ... 17 _n - logical elements OR;

18 - multiplexed communication channel (MCO) 18;

19 - on-board computer system (BVS) 19;

20 ₁ ... 20 _m - the main terminal device (OS _i );

21 ₁ ... 21 _m - controller op-amp _i ;

22 ₁ ... 22 _m - switch OS _i ;

23 ₁ ... 23 _m - standby terminal device (OS _j );

24 ₁ ... 24 _m - op-amp controller _j ;

25 ₁ ... 25 _m - switch OS _j ;

OS - feedback input;

Z - entry prohibition of work.

In FIG. 2 shows a timing diagram of the operation of terminal devices, taking into account the occurrence of failures (malfunctions) in them.

System Power Management SC increased viability (FIG. 1) consisting, e.g., of parallel-connected between a CF 1, the power controller excess HLR 2, the charging memory devices 3 ₁ ... 3 _n, discharge devices RU 4 ₁ ... 4 _n, batteries AB 5 ₁ ... 5 _n and the load, which is the on-board equipment of BA 7, is carried out without interference from the ground control complex (GCC). Charging and discharging devices form a charge-discharge device (switchgear _m ), and one switchgear may include one or two memory devices and switchgears. In the latter case, the relation n = 2⋅m is valid.

The excess power regulator, charging and discharging devices, as well as solar panels are controlled depending on the illumination of the BF, input (voltage of the BF) and output voltage of the solar cells. In this case, the chargers of the charger 3 ₁ ... 3 _n provide a charge of AB 5 ₁ ... 5 _n , and the discharge devices RU 4 ₁ ... 4 _n provide power to the BA 7 with a stabilized voltage. Continuous control circuits (feedback - OS) of the charger 3 ₁ ... 3 _{n are} connected to the BF 1 bus, and the continuous control circuits of RU 4 ₁ ... 4 _{n are} connected to the SEP output bus (to the input of BA 7).

For autonomous control of the BOT, i.e. without interference with the low-voltage switchgear, as part of the BVS 19 they form the EPA algorithms included in the on-board software (BPO), which receive the necessary information from the EPA via a duplicated main serial interface (multiplex communication channel) 18. A redundant interface device is used in the EPA (in Fig. 1 (dashed lines), consisting of the main op-amp _i 20 ₁ ... 20 _m and the backup op-amp _j 23 ₁ ... 23 _{m of} terminal devices, the main 21 ₁ ... 21 _m and the backup 24 ₁ ... 24 _{m of} controllers (GOST R 52070-2003. The main interface consistent electronic module systems. General requirements). In the process of exchanging BWS with BOT, terminal devices installed to increase the reliability of BOT in each of m charge-discharge devices perform the function of a subscriber. The controllers 2 ₁ ... 21 _m and 24 ₁ ... 24 _m collect and process the BOT parameters, and according to the processing of the BOT parameters, information arrays are generated, which are displayed as part of the operational control information (IOC) at the request of the BOT BOT. In addition, the interface devices broadcast informational messages (IP), which are control commands (CI), issued to the EPP from the BVS via MCO. The main (OS _i ) and redundant (OS _j ) terminal devices have their own switches (in Fig. 1 they are denoted by 22 ₁ ... 22 _m and 25 ₁ ... 25 _m ), designed to disconnect (turn on), if necessary, the supply voltage of the corresponding terminal device .

Depending on the state of charge of AB 5 ₁ ... 5 _n produce ban or permit the work memory 3 ₁ ... 3 _n and RU 4 ₁ ... 4 _n, where state of charge AB is determined in different ways depending on the type of the rechargeable battery, including: using sensors pressure (for NVAB); using voltage sensors of the battery group (for LIAB). In FIG. 1 schematically shows lithium-ion batteries and corresponding voltage monitoring devices of a battery group for determining the state of charge of the LIAB as a whole.

Upon reaching the maximum degree of charge of a specific battery, the signal from the "Prohibition of charger" output of its battery voltage monitoring device UKNA 6 ₁ ... 6 _n , using the RS trigger 12 ₁ ... 12 _n, prohibits the operation of its charger. After discharging the battery to a predetermined level, this prohibition is removed by a signal from the output “Permission of memory” (in Fig. 1 - “Permission of memory”) UKNA 6 ₁ ... 6 _n .

Upon reaching the specified minimum level of charge of a specific battery, the signal from the "Prohibition of RU" output of its UKNA 6 ₁ ... 6 _n , passing through the RS flip-flop 14 ₁ ... 14 _n and the logic element OR 17 ₁ ... 17 _n , is fed to the prohibition input of the corresponding RU. This battery is in storage mode. After charging this battery to a predetermined level, the discharge inhibit is removed by a signal from the output “Permission RU” (in Fig. 1 - “Disp. RU”) UKNA 6 ₁ ... 6 _n (via logic elements 16 ₁ ... 16 _n , RS triggers 14 ₁ ... 14 _n , logical elements 17 ₁ ... 17 _n ).

In the case of abnormal orientation of the solar cells of the spacecraft to the sun or for another reason, a violation of the energy balance in the solar cell is possible. Then the signals from the outputs "Prohibition RU" of all UKNA 6 ₁ ... 6 _n are fed to the inputs of logic elements 9 (m of n) and 10 (logical element And). In the event of an emergency discharge of several m (m≤n) batteries to the minimum charge level, an emergency load control signal (“AN”) is generated at the output of logic element 9, which is issued to the on-board control complex (BCU) to disconnect part of the BA 7. BCU in FIG. . 1 is not shown. This signal is stored on the RS trigger 11. Memorization is removed by an external one-time command (RC). When you turn off the BCU part of the BA 7 decreases the rate of energy consumption AB 5 ₁ ... 5 _n . The BA part remains connected - devices of thermal control systems, telemetry and other necessary systems. These systems provide temperature conditions and control of BA parameters 7. There is a possibility of a longer time to power the load and continue work on the spacecraft recovery from an emergency. Thus, it is possible to use BKU means for adaptively changing the power supply circuit of the BA 7 depending on the current state of the energy capabilities of the solar cells.

In the event of an emergency discharge of all n operating batteries 5 ₁ ... 5 _n to the minimum charge level, a signal appears at the output of logic element 10, which passes through logical elements OR 16 ₁ ... 16 _n , RS triggers 14 ₁ ... 14 _n , logical elements OR 17 ₁ ... 17 _n removes the ban on the operation of all bit devices. Further, if the emergency continues, a synchronous discharge occurs on the remainder of the load of all batteries 5 ₁ ... 5 _n . The electric capacity available in AB 5 ₁ ... 5 _n is fully utilized.

With a further emergency discharge, the output voltage of the system decreases to a predetermined threshold value, the sensor (threshold) of the minimum voltage 8 is triggered, and since this was preceded by storing the control signal “AN" on the RS trigger 11, its signal passed through the logic element And 15 and RS triggers 13 ₁ ... 13 _n and logical elements OR 17 ₁ ... 17 _n inhibits the operation of all switchgears 4 ₁ ... 4 _n and the logic level at the inputs of the elements OR 17 ₁ ... 17 _n blocks the passage of control signals that enable the switchgear 4 ₁ ... 4 _n by signals about stress level I am a group of batteries from UKNA 6 ₁ ... 6 _n . Memorization of the control signal “AN” provides protection against power failure of BA 7 in case of false triggering of the DMN 8 sensor, or when it is triggered in case of overload on the output buses of the BOT, which is not associated with a violation of the orientation of BF 1 and emergency discharge AB 5 ₁ ... 5 _n .

Since the continuous control (feedback - OS) circuits of the charger 3 ₁ ... 3 _{n are} connected to the BF bus, and the continuous control (OS) circuits of the RU 4 ₁ ... 4 _{n are} connected to the BOT output bus, the power supply of the BA 7 will be provided first. violation of the orientation of BF 1 on the Sun or the spacecraft going into the shade, the power of the entire BA 7 and the charge of AB 5 ₁ ... 5 _n cease. The discharge AB 5 ₁ ... 5 _{n is} not performed, since the signal "Prohibition of charge" is not removed.

When charging any of the AB 5 ₁ ... 5 _n rechargeable batteries to a certain value of the capacitance, the signal from the output of UKNA 6 ₁ ... 6 _n “AB is charged” passing through the RS trigger (13 ₁ ... 13 _n ) and the OR gate (17 ₁ ... 17 _n ) removes the ban on the operation of its discharge device and the blocking of the passage of control signals allowing the discharge devices RU 4 ₁ ... 4 _n to work according to signals about the level of charge from UKNA 6 ₁ ... 6 _n . BOT goes into normal mode of operation after charging one battery or all batteries 5 ₁ ... 5 _n , or according to the Republic of Kazakhstan issued from the low-voltage switchgear.

Reducing the likelihood of an emergency due to a communication failure between the BOT and the BVS carried out via the multiplex exchange channel is achieved by using the corresponding algorithm from the BPO (hereinafter: BPO SEP algorithm).

The BPO BOT algorithm calls the OS _I (OS _j ) SEB to retrieve information about the state of the power supply system (ABI capacities and other parameters) with a given frequency (period). For products developed by RCC Progress JSC, a period of 4 minutes is chosen, which is optimal for solving the main problem and sufficient to identify a possible failure of OS _i (OS _j ) with its subsequent parry, including when exposed to OS _i (OS _j ) factors of TZZh and VEP KP.

In order to protect against single failures during data transmission via MCOs, all exchanges in case of errors occur at least twice on each operable MCO information transmission line (with the necessary time delay between exchanges), after which it is considered that there has been a steady violation of the exchange on MCOs.

Suppose that as a result of the influence of the factors of TZZh and VEP KP (or for another reason) there was a steady violation of the exchange between BVS and SEP. In this case, the following sequence of program operations is formed by the BPO SEP algorithm (Fig. 2):

1) restarts the OS _i by alternately supplying KU to disconnect power from it and KU power-on with a time interval between commands equal to t _2;

2) the next exchange is carried out with the op-amp _i after a time t ₁ necessary to download the software (software) of the op-amp controller _i ;

3) the implementation of the standard logic for monitoring the operation of the BOT with OS _{i is} continued, if the exchange is normal;

4) switching to OS _j is performed by issuing an appropriate control command, for example, KU “Turning on the backup OS”, if the exchange error persists;

5) an exchange is made with OY _j after a time t ₁ necessary to download the software (software) of the controller ОУ _j ;

6) the implementation of the regular logic for monitoring the operation of the EPA with OY _j continues if the exchange occurs normally.

The OS is rebooted by switching between the OS, using the control commands “Turn on the backup OS” and “Turn on the main OS”, which allows to reduce the number of required OS. At the command “Turn on the backup (main) OS”, the main (backup) and the backup (main) OS are turned off simultaneously.

Rebooting the op-amp _{j is} performed by a similar sequence of program operations, and in the event of a failure of OY _j for the possibility of re-checking the operability of the op-amp _i and further working with it, the transition to the op-amp _{i is} carried out according to a one-time command with the NKU.

The application of the above sequence of software operations is necessary in order to identify the nature of the failure of the OS. If after a reboot of a failed OS, its operability is restored, then this indicates with high probability that a failure or failure of this OS occurred as a result of the influence of factors of the current safety factor or VEP KP.

Under the exchange with OS _i (OS _j ) understand how to read information from OS _i (OS _j ) and transfer data (control actions) to OS _i (OS _j ).

Standard criteria (GOST R 52070-2003. Serial trunk system interface of electronic modules system. General requirements) can be used as a criterion of exchange error (identification of failure / failure), for example:

- lack of a response word (OS);

- the appearance of signs in the OS, for example, “the subscriber is busy”, “error in the message”.

However, to identify the failure of the OS _i (OS _j ) from the influence of the factors TZCh and VEP KP these signs may not be enough, therefore, an additional operation is introduced, namely checking the checksums (CS) of the transmitted arrays. The fact of the discrepancy between the CS of the transmitted arrays is used as a criterion for the failure of OS _i (OS _j ).

A positive effect is achieved due to:

- selection of a reliable method for identifying failure (failure) of the OS _i (OS _j );

- software time limit (for example, 4 minutes) to identify the failure (failure) of the OS _i (OS _j );

- timely (see Fig. 2) power off from the interface device element for eliminating fuel cells by programmatically issuing a command to disconnect voltage from the latter;

- the transition, if necessary, from OS _i to OS _j and returning with a one-time command from the GCC from OS _i to OS _j .

- installation in each switchgear of a separate duplicated interface device.

The installation of a separate interface device in each switchgear and the use of redundant interface devices further increase the survivability of the BOT, since in the event of a complete failure of an interface device, the remaining devices remain operational, therefore, the failure of the BOT is eliminated.

The remaining measures are aimed at removing, for a strictly allowable period of time, the power supply from the failed element of the interface device and preventing the catastrophic development of the failure. Performing these operations with the help of BPO and the use of reliable methods for identifying metabolic disturbances between BWS and BOTs by MCOs will undoubtedly reduce the likelihood of emergencies in BOTs, which are associated primarily with the influence of factors of safety factor and VEP KP.

Thus, the application of the proposed method for controlling the power supply system of a spacecraft of increased survivability allows maximum use of the stored capacity of the battery and to provide power to the onboard control system to stop or inhibit the development of the emergency, to prevent irreversible discharge of the battery 5 ₁ ... 5 _n in case of violation of the energy balance reduce the likelihood of an emergency due to a communication failure between the power supply system and the on-board computer system carried out by tipleksnomu traffic channel, and thereby further improve the reliability and survivability SEP operation.

Claims (1)

The method of controlling the power supply system of a spacecraft (SC) of increased survivability, containing a photoelectric battery (BF), n rechargeable batteries (AB) and n charge and discharge devices, which control charge and discharge devices depending on the brightness of the BF, degree the charge of all batteries, input and output voltage of the power supply system (BOT); they prohibit the operation of the corresponding charger when the maximum charge level of the given battery is reached and remove this ban when the charge level of this battery is reduced; they prohibit the operation of the corresponding discharge device when the specified minimum charge level of this battery is reached and remove this ban when the charge level of this battery is increased; forming a control signal in the onboard control system of the spacecraft to shut off part of the onboard equipment during an emergency discharge of several m (m≤n) batteries to the minimum charge level; prohibit the operation of all discharge devices if the output voltage of the BOT is reduced to a predetermined threshold value; reset the memorization of the control signal to prohibit all discharge devices after charging all the batteries to a predetermined charge level, characterized in that in the power supply system for communication with the on-board computer system (BVS), implemented via a duplicated main serial interface (multiplex communication channel), interface devices use a terminal device (op-amp) with a controller, with each charge-discharge device (switchgear _m ) consisting of one or more chargers (discharge n) devices, equip primary (op-amp _im ) and backup (op-amp _jm ) terminal devices; using the algorithm SEP UA from the onboard software with the specified frequency interrogating parameters (arrays) identifies and BOT failure (performance) of each op-amp _im; as a criterion for OS failure, the fact of the appearance of an exchange error is accepted; after identifying the failure of the op-amp _im in some indoor switchgear _m , the op-amp _{im is} programmed to be reset, for which, within the specified time interval, the necessary control commands (CU) are generated in accordance with the SEP algorithm, while the op-amp is rebooted by switching to the standby op-amp _jm with subsequent return to the main op amp _im ; repeat the sequence of these operations; in the case of parrying the failure of the op-amp _{im, the} exchange is continued using the op-amp _im ; in case of failure of the OS reauthentication _im performed programmatically transition to standby terminal OS _jm, using the appropriate CG; the operating sequence of the op-amp _{jm is} chosen similar to the operating sequence of the op-amp _im ; the return from the op-amp _jm to the op-am _im, if necessary, is performed according to a one-time command from the ground control complex.

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