CN101859143A - Method and platform for simulating faults of momentum-bias satellite - Google Patents
Method and platform for simulating faults of momentum-bias satellite Download PDFInfo
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- CN101859143A CN101859143A CN 201010159040 CN201010159040A CN101859143A CN 101859143 A CN101859143 A CN 101859143A CN 201010159040 CN201010159040 CN 201010159040 CN 201010159040 A CN201010159040 A CN 201010159040A CN 101859143 A CN101859143 A CN 101859143A
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Abstract
The invention discloses a method and a platform for simulating faults of a momentum-bias satellite. In the method, a fault simulation functional module is utilized to realize the simulation of the faults of a momentum wheel and a magnetometer. The platform comprises a shafting air-floated platform, a terrestrial magnetism simulator, the momentum wheel, the magnetometer, the fault simulation functional module, an attitude determining and controlling device, an angle measuring device and an orbit model. The invention can achieve the function of simulating the faults of the attitude control system of a momentum-bias small satellite, and can inspect the operational condition and the fault judging and processing abilities of the attitude control software of the attitude control system as well as the emergency treatment measures and the fault coping strategies of the attitude controller of the attitude control system under the condition that the magnetometer and the momentum wheel have multiple faults.
Description
Technical field
The invention belongs to the field of satellite fault simulation in the spacecraft reliability technology.The present invention can be used for the simulation of bias momentum small satellite attitude control system unit failure, control to the emergency processing of unit failure, the feasibility study of attitude control system scheme and the reliability demonstration of attitude Control Software.
Background technology
It is an important step of satellite development that fault simulation and fault are injected, and also is the important means of carrying out the satellite reliability demonstration.In the attitude control system alternatives formulation process, carry out fault analysis and countermeasure at the contingent various failure conditions of parts, but whether these analyses are reasonable, and whether the fault countermeasure is practical, need carry out the feasibility that design proposal is verified in multiple test repeatedly on ground.Fault simulation and fault are injected then provides a kind of effective means that is used for plan-validation.
It is a kind of efficiency test method of the fault tolerant mechanism of testing and assessing that fault simulation and fault are injected, and it is by introducing fault quicken the to test and assess process of the test of fault tolerant mechanism consciously in system.The research of injecting at the fault simulation and the fault of satellite attitude control system at present, on the basis of attitude control system Digital Simulation platform, the fault that adopts software approach to realize is injected and the fault simulation technology.But based on software fault simulation and fault filling method, physical unit can't be inserted, the break down functional verification of system's electrical property interface features under the situation, fault emergency reaction ability, each functional module harmony of parts in the attitude control closed loop can not be realized.And direct hardware based fault simulation and fault filling method can cause physical damage to parts, and this spacecraft equipment to costliness is worthless.This patent is in conjunction with the software and hardware failure method for implanting, fault simulation signal is introduced from sensor excitation source end, simultaneously momenttum wheel is inserted accurate single shaft air turntable, the analog satellite dynamics, this scheme has realized the semi-physical simulation function of bias momentum control satellite attitude control system reliability demonstration under the situation that does not cause the component physical loss.
By the research that magnetometer and momenttum wheel fault are injected vital role has been played in the design and the application of small satellite attitude control system fault tolerant mechanism and failure-management strategy, it can the accelerating system parts inefficacy, and analytic system is to the reaction of fault, carries out the feasibility of the feasibility checking of fault emergency processing and unit failure simulation measure, satellite-borne fault-tolerant control technology for bias momentum control mode attitude control system on ground the means that provide are provided.
Summary of the invention
Technical matters
The present invention seeks to provide a kind of emulation mode and platform of simulating faults of momentum-bias satellite platform at the defective that prior art exists.
Technical scheme
The present invention adopts following technical scheme for achieving the above object:
The emulation mode of simulating faults of momentum-bias satellite platform of the present invention is characterized in that comprising the steps:
1) be that air floating table places the initial launch state with axle;
2) in the fault simulating function module, set the unit failure type of intending simulation;
3) adopting angle-measuring equipment to obtain axle is that air floating table initial angle, angular velocity information are attitude information, and sends in the model trajectory;
4) adopt model trajectory according to current orbit information of moonlet and the attitude information that receives, calculate the magnetic field intensity information of moonlet under the magnetometer installation shaft under current track and the current attitude condition, and generate ground magnetic simulator command information, output to the fault simulating function module;
5) the fault simulation module is according to step 2) the magnetometer fault type set, the digital signal processing that the ground magnetic simulator command information of gathering is scheduled to, and the result outputed to the ground magnetic simulator;
6) the magnetometer magnetic field intensity information in the magnetic simulator sensitively outputs to attitude and determines and controller;
7) the magnetic field intensity information under the attitude installation shaft determining to arrive according to the magnetometer sensitivity with controller, adopt attitude to determine that algorithm obtains the attitude information of current moonlet, and, will control the result and output to momenttum wheel fault simulating function module according to given attitude control algolithm;
8) momenttum wheel fault simulation module is handled the momenttum wheel command signal, and is outputed to momenttum wheel according to setting the momenttum wheel failure condition;
9) momenttum wheel receives command signal, and it is air floating table that the output control moment affacts axle; Repeat above-mentioned steps 2)-9).
Preferably, the method for magnetometer fault simulation is as follows: the magnetometer fault simulation module in the fault simulating function module is injected into the ground magnetic simulator, and the magnetic field intensity signal by ground magnetic simulator generation fault realizes the magnetometer fault simulation.
Preferably, the method of momenttum wheel fault simulation is as follows: the momenttum wheel fault simulation module intercepts control command signal in the fault simulating function module, and, steering order is carried out signal Processing according to topworks's fault type that need are simulated, output to momenttum wheel, realize the momenttum wheel fault simulation.
The simulating faults of momentum-bias satellite platform, comprise: axle is an air floating table, the ground magnetic simulator, momenttum wheel, magnetometer, the fault simulating function module, attitude is determined and controller, angle-measuring equipment and model trajectory, wherein magnetometer places magnetic simulator central task zone, ground, it is on the air floating table that momenttum wheel places axle, the output terminal of ground magnetic simulator is connected in series magnetometer successively, attitude determine with controller after connect the input end of fault simulating function module, it is air floating table that the output terminal of momenttum wheel is connected in series axle successively, angle-measuring equipment, connect the input end of fault simulating function module behind the model trajectory, the output terminal difference ground connection magnetic simulator of fault simulating function module and the input end of momenttum wheel.
Preferably, described fault simulating function module comprises momenttum wheel fault simulation module and magnetometer fault simulation module, wherein the input termination attitude of momenttum wheel fault simulation module is determined the output terminal with controller, the input end of the output termination momenttum wheel of momenttum wheel fault simulation module, the integrate with output terminal of model of the input end of magnetometer fault simulation module, the input end of the output head grounding magnetic simulator of magnetometer fault simulation module.
Beneficial effect
1. the present invention is on the basis of precision bearing system air-float turntable and ground magnetic simulator, magnetometer and momenttum wheel fault simulation semi-physical simulation platform have been designed, this platform can be realized the fault simulating function of the small satellite attitude control system of bias momentum control mode on ground, and can check the ruuning situation of attitude control system attitude Control Software under magnetometer and momenttum wheel various faults situation and, and the emergency processing measure of attitude controller and fault countermeasure to failure judgment, processing power.
2. the present invention adopts fault-signal is injected into the ground magnetic simulator, by the magnetic field intensity signal of ground magnetic simulator generation fault, realizes the sensor fault simulation.Adopt this method, can not cause under the condition of physical damage, realize fault simulating function magnetometer.
The present invention can complete realization offset angle momentum control mode under the fault simulating function of microsatellite and the feasibility authentication function of attitude controlling schemes.Under the offset angle momentum control mode, pitch channel can decoupling zero, so the precision bearing system air-float turntable can be simulated the pitch axis dynamics of microsatellite, and checking is based on the controlling schemes of bias momentum wheel.
Description of drawings
Fig. 1: platform structure figure of the present invention.
Fig. 2: embodiment of the invention structural drawing.
Embodiment
Be elaborated below in conjunction with the technical scheme of accompanying drawing to invention:
As shown in Figure 1, simulating faults of momentum-bias satellite platform of the present invention, the method of magnetometer fault simulation is as follows: the fault simulating function module is injected into the ground magnetic simulator, by the magnetic field intensity signal of ground magnetic simulator generation fault, realizes the sensor fault simulation; The mode of momenttum wheel fault simulation is: fault simulating function module intercepts control command signal, and, steering order is carried out signal Processing according to topworks's fault type that need are simulated, and output to momenttum wheel, realize topworks's various faults simulation.This emulation platform hardware is formed and is comprised: the precision bearing system air-float turntable, magnetic simulator, momenttum wheel, magnetometer, fault simulating function module, attitude determine and controller, angle-measuring equipment, wherein magnetometer places magnetic simulator central task zone, and momenttum wheel places on the precision bearing system air-float turntable.
One, platform is formed
(1) model trajectory
Model trajectory calculate the earth magnetic field intensity of satellite under the installation of the magnetometer under a certain attitude state on flight track coordinate system, and the generation instruction outputs to the ground magnetic simulator according to current orbit information and attitude information.
(2) magnetic simulator
The ground magnetic simulator produces the target terrestrial magnetic field according to the instruction of input.
(3) precision bearing system air-float turntable
For the small satellite attitude control system of offset angle momentum control mode, pitch axis and other two decoupler shafts are so can adopt bias momentum to take turns to realize the attitude control of pitch axis separately.The precision bearing system air-float turntable is used to simulate the moonlet pitch axis dynamics under the offset angle momentum control mode.
(4) magnetometer and momenttum wheel
Magnetometer is as the attitude measurement parts, the magnetic field intensity signal under the current track that produces of magnetic simulator sensitively, and this signal outputed to attitude controller; Momenttum wheel receives steering order as the important topworks of offset angle momentum control mode moonlet, and the output control moment acts on the precision bearing system air-float turntable, realizes small satellite attitude control.
(5) attitude is determined and controller
Attitude is determined to comprise two aspect contents with controller: attitude is determined and attitude control.Adopt magnetometer to realize that attitude is definite in this patent,,, can obtain small satellite attitude information with the magnetic field intensity comparison under the flight track nominal state according to the current magnetic field information that the magnetometer sensitivity arrives.Attitude controller adopts control law to calculate actuating mechanism controls instruction and output according to attitude information.
(6) fault simulating function module
The fault simulation module is handled input signal according to the fault type of current needs simulation, and the output fault simulation signal realizes setting the simulation of fault.The fault simulating function module comprises magnetometer fault simulation and momenttum wheel fault simulation two parts in this patent.
Two, as shown in Figure 2, certain microsatellite attitude control system with offset angle momentum control mode consists of example, sensor adopts magnetometer, and topworks adopts the bias momentum wheel, adopts this platform to simulate momenttum wheel stall fault job step of the present invention is described.
Getting momenttum wheel generation stall fault below is that example illustrates the detailed implementation step of the present invention.
1. power up for each operational module, and start each module working procedure;
2. precision bearing system air-float turntable (1) is placed a certain initial launch state;
3. in topworks's fault simulation (8) functional module, setting simulated failure type is: momenttum wheel (4) stall fault;
4. angle-measuring equipment (2) obtains precision bearing system air-float turntable (4) initial angle, angular velocity information, sends to model trajectory (3) functional module;
5. model trajectory (3) functional module is according to current orbit information of moonlet and the attitude information that receives, calculate the magnetic field intensity information of moonlet under magnetometer (6) installation shaft under current track and the current attitude condition, and generate ground magnetic simulator (5) command information, output to sensor fault analog module (4);
6. because the no simulated failure of current magnetometer (6), old place magnetic simulator (5) command signal need not through special processing, and ground magnetic simulator (5) command signal that magnetometer (6) fault simulating function module directly will be imported outputs to and the result is outputed to ground magnetic simulator (5);
7. magnetometer (6) the magnetic field intensity information in the magnetic simulator (5) sensitively outputs to attitude and determines and controller (7);
8. the magnetic field intensity information under the attitude installation shaft determining to arrive according to the magnetometer sensitivity with controller (7), adopt attitude to determine that algorithm obtains the attitude information of current moonlet, and, will control the result and output to momenttum wheel fault simulation (8) functional module according to given attitude control algolithm;
9. momenttum wheel fault simulation (8) functional module is handled momenttum wheel (9) command signal according to momenttum wheel (9) the stall fault simulation requirement of setting, and exports 0 command voltage and gives momenttum wheel (9).
10. momenttum wheel (9) receives command signal, and the output control moment affacts air floating table (1).Repeat above-mentioned 3-10.
The foregoing description does not limit the present invention in any form, and all employings are equal to the technical scheme that form obtained of replacement or equivalent transformation, all drop within protection scope of the present invention.
Claims (5)
1. the emulation mode of a simulating faults of momentum-bias satellite platform is characterized in that comprising the steps:
1) be that air floating table places the initial launch state with axle;
2) in the fault simulating function module, set the unit failure type of intending simulation;
3) adopting angle-measuring equipment to obtain axle is that air floating table initial angle, angular velocity information are attitude information, and sends in the model trajectory;
4) adopt model trajectory according to current orbit information of moonlet and the attitude information that receives, calculate the magnetic field intensity information of moonlet under the magnetometer installation shaft under current track and the current attitude condition, and generate ground magnetic simulator command information, output to the fault simulating function module;
5) the fault simulation module is according to step 2) the magnetometer fault type set, the digital signal processing that the ground magnetic simulator command information of gathering is scheduled to, and the result outputed to the ground magnetic simulator;
6) the magnetometer magnetic field intensity information in the magnetic simulator sensitively outputs to attitude and determines and controller;
7) the magnetic field intensity information under the attitude installation shaft determining to arrive according to the magnetometer sensitivity with controller, adopt attitude to determine that algorithm obtains the attitude information of current moonlet, and, will control the result and output to momenttum wheel fault simulating function module according to given attitude control algolithm;
8) momenttum wheel fault simulation module is handled the momenttum wheel command signal, and is outputed to momenttum wheel according to setting the momenttum wheel failure condition;
9) momenttum wheel receives command signal, and it is air floating table that the output control moment affacts axle; Repeat above-mentioned steps 2)-9).
2. the emulation mode of simulating faults of momentum-bias satellite platform according to claim 1, the method of fault simulation that it is characterized in that magnetometer is as follows: the magnetometer fault simulation module in the fault simulating function module is injected into the ground magnetic simulator, magnetic field intensity signal by ground magnetic simulator generation fault realizes the magnetometer fault simulation.
3. the emulation mode of simulating faults of momentum-bias satellite platform according to claim 1, the method of fault simulation that it is characterized in that momenttum wheel is as follows: the momenttum wheel fault simulation module intercepts control command signal in the fault simulating function module, and according to topworks's fault type of need simulations, steering order is carried out signal Processing, output to momenttum wheel, realize the momenttum wheel fault simulation.
4. simulating faults of momentum-bias satellite platform, it is characterized in that comprising: axle is an air floating table, the ground magnetic simulator, momenttum wheel, magnetometer, the fault simulating function module, attitude is determined and controller, angle-measuring equipment and model trajectory, wherein magnetometer places magnetic simulator central task zone, ground, it is on the air floating table that momenttum wheel places axle, the output terminal of ground magnetic simulator is connected in series magnetometer successively, attitude determine with controller after connect the input end of fault simulating function module, it is air floating table that the output terminal of momenttum wheel is connected in series axle successively, angle-measuring equipment, connect the input end of fault simulating function module behind the model trajectory, the output terminal difference ground connection magnetic simulator of fault simulating function module and the input end of momenttum wheel.
5. simulating faults of momentum-bias satellite platform according to claim 2, it is characterized in that described fault simulating function module comprises momenttum wheel fault simulation module and magnetometer fault simulation module, wherein the input termination attitude of momenttum wheel fault simulation module is determined the output terminal with controller, the input end of the output termination momenttum wheel of momenttum wheel fault simulation module, the integrate with output terminal of model of the input end of magnetometer fault simulation module, the input end of the output head grounding magnetic simulator of magnetometer fault simulation module.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102707708A (en) * | 2012-05-25 | 2012-10-03 | 清华大学 | Method and device for diagnosing faults of multi-mode flight control system |
| CN105091677B (en) * | 2014-05-08 | 2017-04-19 | 中国航天科工集团第六研究院四十一所 | Fault simulation device of safety initiation device |
| CN107153591A (en) * | 2017-05-09 | 2017-09-12 | 郑州云海信息技术有限公司 | A kind of detection method and device of memory construction for electricity |
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| US6231011B1 (en) * | 1998-11-02 | 2001-05-15 | University Of Houston System | Satellite angular momentum control system using magnet-superconductor flywheels |
| CN101320524A (en) * | 2008-04-22 | 2008-12-10 | 北京航空航天大学 | Multiprocessor real-time simulation platform |
| CN101344788A (en) * | 2008-09-02 | 2009-01-14 | 南京航空航天大学 | Simulation test equipment and method for moonlet attitude control reliability validation |
| CN101493701A (en) * | 2008-12-24 | 2009-07-29 | 南京航空航天大学 | Bias momentum control emulation method and device based on ground magnetic field |
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2010
- 2010-04-27 CN CN2010101590402A patent/CN101859143B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4260942A (en) * | 1978-04-17 | 1981-04-07 | Trw Inc. | Failure detection and correction system for redundant control elements |
| US6231011B1 (en) * | 1998-11-02 | 2001-05-15 | University Of Houston System | Satellite angular momentum control system using magnet-superconductor flywheels |
| CN101320524A (en) * | 2008-04-22 | 2008-12-10 | 北京航空航天大学 | Multiprocessor real-time simulation platform |
| CN101344788A (en) * | 2008-09-02 | 2009-01-14 | 南京航空航天大学 | Simulation test equipment and method for moonlet attitude control reliability validation |
| CN101493701A (en) * | 2008-12-24 | 2009-07-29 | 南京航空航天大学 | Bias momentum control emulation method and device based on ground magnetic field |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102707708A (en) * | 2012-05-25 | 2012-10-03 | 清华大学 | Method and device for diagnosing faults of multi-mode flight control system |
| CN105091677B (en) * | 2014-05-08 | 2017-04-19 | 中国航天科工集团第六研究院四十一所 | Fault simulation device of safety initiation device |
| CN107153591A (en) * | 2017-05-09 | 2017-09-12 | 郑州云海信息技术有限公司 | A kind of detection method and device of memory construction for electricity |
| CN107153591B (en) * | 2017-05-09 | 2020-06-16 | 苏州浪潮智能科技有限公司 | Detection method and device for power supply architecture of memory |
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