CN104898668B - A kind of on-orbit fault detection and maintaining method based on robot of cruising - Google Patents
A kind of on-orbit fault detection and maintaining method based on robot of cruising Download PDFInfo
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- CN104898668B CN104898668B CN201510218252.6A CN201510218252A CN104898668B CN 104898668 B CN104898668 B CN 104898668B CN 201510218252 A CN201510218252 A CN 201510218252A CN 104898668 B CN104898668 B CN 104898668B
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Abstract
A kind of on-orbit fault detection and maintaining method based on robot of cruising, first by cruise robot by rescue satellite deliver to target satellite and adsorb target satellite surface adsorption plane, then robot of cruising is made to reach the star catalogue test interface position of target satellite, control centre's computer is connected to target satellite, handshake, the return signal of reception each equipment of satellite system are sent finally by control centre's computer of robot of cruising to target satellite to judge each subsystem working condition of target satellite, and fixed a breakdown by initialization or adapter target satellite.The inventive method is compared with prior art, cruised in satellite surface using robot and carry out detection maintenance, prior art is overcome when the telemetry intelligence (TELINT) passed back by analyzing satellite judges satellite failure, telemetry intelligence (TELINT) can not be obtained if TT＆C system breaks down to analyze the deficiency of failure, and can realize the physical fault reparation to target satellite.
Description
Technical field
It is particularly a kind of to be existed based on robot of cruising the present invention relates to a kind of detection of satellite on-orbit fault and maintaining method
Rail fault detect and maintaining method.
Background technology
Current space technology has come into the fast-developing phase, it is contemplated that to the year two thousand twenty, and the in-orbit quantity of China Satecom will break through
200, and these satellites are mainly distributed on GEO, MEO and SSO track, including earth observation, communication, navigation, electronic reconnaissance and
The applied satellites such as confrontation, early warning.These satellite costs are high, complex structure, life cycle are long, once occurring in life cycle
Failure, can cause huge economic loss.In these satellite failures, a part can be standby by TTC channel activation system redundancy
Part or surface instruction switching recover, but another part failure rolled due to the attitude of satellite, observing and controlling failure, complicated malfunction
Cannot be repaired etc. reason.Therefore, run steadily in the long term to ensure high value satellite, it is necessary to develop satellite In-flight measurement, event
The service ability such as barrier recovery.
The fault detect of current satellite is most of to be sentenced to the telemetry intelligence (TELINT) that satellite transmission is returned by earth station to be analyzed
It is disconnected, this mode be built upon satellite TT＆C system it is working properly under conditions of, once TT＆C system breaks down, it is related distant
Measurement information cannot just be obtained.High-performance cruises the very strong gesture stability ability of robot, can under high loading conditions
Land satellite surface carries out traversal and cruises.At present, bionical class robot of cruising obtains Preliminary Applications on international space station, can
Substitute astronaut and find the chance failures such as air leakage, and recover there is not yet data for satellite or the detection of spacecraft on-orbit fault
Report.
The content of the invention
Present invention solves the technical problem that being：Telemetry intelligence (TELINT) can not be obtained when overcoming TT＆C system failure in the prior art
The deficiency for being detected to satellite failure and being safeguarded, there is provided it is a kind of satellite surface implement based on the in-orbit of robot of cruising
Fault detect and maintaining method.
Technical solution of the invention is：A kind of on-orbit fault detection and maintaining method based on robot of cruising, bag
Include following steps：
(1) will cruise robot be put in rescue satellite and will rescue satellite towards target satellite launch, when rescue satellite with
During target satellite distance no more than 1km, the attitude and rail of rescue Satellite observation target satellite topographical information and solving target satellite
Target satellite topographical information, attitude and track delivered to the control centre's computer in robot of cruising, control is cruised machine behind road
Device people separates with rescue satellite, and make robot of cruising by its orbits controlling thruster according to the track of target satellite towards target
Satellite is close to；The robot of cruising includes control centre's computer, detection communication module, orbits controlling thruster, attitude control
Controlling push-force device；
(2) cruise after robot separates with rescue satellite, rescue satellite is measured the attitude track of target satellite in real time simultaneously
Robot of cruising is delivered to, the attitude track of robot real-time reception target satellite of cruising is made and by its detection communication module measurement
Behind the position of target satellite, target satellite is approached using its orbits controlling thruster amendment displacement track, while using
The position of target satellite that measurement is obtained calculates the distance of cruise robot and target satellite and judges；
(3) if the distance no more than 100m of cruise robot and target satellite, the robot that makes to cruise is defended according to target
The attitude of star opens attitude control thruster adjustment athletic posture, while receiving the appearance of the target satellite that rescue satellite sends in real time
State is simultaneously transferred to step (4)；If robot of cruising, more than 100m, makes to cruise robot continuation in real time with the distance of target satellite
After receiving attitude track and the position by its detection communication module measurement target satellite of target satellite, its orbits controlling is used
Thruster correction motion track is near target satellite, until cruise robot and the distance no more than 100m of target satellite, then
Make to cruise robot according to the attitude of target satellite unlatching attitude control thruster adjustment athletic posture, while receiving rescue satellite
The attitude of the target satellite for sending in real time is simultaneously transferred to step (4)；
(4) if robot of cruising is not more than 10 with the attitude difference of target satellite-3°, then the mesh for being sent according to rescue satellite
Mark satellite topographical information finds the adsorption plane of target satellite, then makes robot of cruising be adjusted using attitude control thruster and cruises
The attitude of robot is parallel with the adsorption plane of target satellite up to robot of cruising, if cruising robot and the appearance of target satellite
State difference is more than 10-3°, then make robot of cruising adjust its attitude using attitude control thruster until robot of cruising is defended with target
The attitude difference of star is not more than 10-3°, the target satellite topographical information for then repeating to be sent according to rescue satellite finds target satellite
Adsorption plane, the robot that makes to cruise adjusts the attitude of robot of cruising until cruise robot and target using attitude control thruster
The adsorption plane of satellite is parallel；The adsorption plane is have preferable flatness and area more than robot of cruising in target satellite surface
Region；
(5) adsorption plane collision of the robot vertical to target satellite of cruising is made, and in Contact by robot of cruising
Then the sticking attachment of polymers in surface makes to cruise robot by detection communication module detection suction to target satellite adsorption plane
Around attached face after star catalogue information, using the path of the star catalogue test interface position of control centre's computer project to target satellite,
Robot path planning of cruising is made to creep to the star catalogue test interface position of target satellite after obtaining path planning；
(6) after reaching the star catalogue test interface position of target satellite, make to cruise robot by its control centre's computer with
The star catalogue test interface connection of target satellite, sets up its link connection with target satellite；
(7) control centre's computer of robot of cruising is made to send handshake to target satellite,
If both shake hands successfully, control centre's computer of robot of cruising is made to all subsystems of target satellite
Equipment carries out bus cycles property poll,
If each subsystem equipment of target satellite is returned " service request bit " in bus cycles property poll command status word
1 is set to, then the target satellite subsystem equipment is in running order, sends all subsystem equipment of target satellite and be in
The instruction of working condition is simultaneously forwarded to ground by rescuing satellite, and on-orbit fault detection is completed,
If there is the " service request during subsystem equipment returns to bus cycles property poll command status word in target satellite
Position " is set to 0, then be transferred to step (8),
If both shake hands unsuccessful, control centre's computer adapter target satellite of the robot that makes to cruise is connected to always
Each subsystem equipment of line, is transferred to step (8)；
(8) the control centre's computer of robot of making to cruise obtains the mark that target satellite is connected to each subsystem equipment of bus
Know position and deliver to ground by rescuing satellite forwarding, then receive each point of the target satellite sent by the ground of rescue satellite transfer
The initiation parameter of system equipment flag, is initialized, weight using each subsystem equipment of the initiation parameter control targe satellite
Bus cycles property poll newly is carried out to each subsystem of target satellite,
If there is the " service request during subsystem equipment returns to bus cycles property poll command status word in target satellite
Position " is set to 0, then corresponding target satellite subsystem physical fault, makes control centre's computer adapter mesh of robot of cruising
Mark satellite bus control, send target satellite there is subsystem equipment physical fault and robot of cruising adapter target is defended
The instruction of star is simultaneously forwarded to ground by rescuing satellite, and on-orbit fault detection is completed,
If each subsystem equipment of target satellite is returned " service request bit " in bus cycles property poll command status word
1 is set to, then the subsystem equipment fault that target satellite breaks down is excluded, sends all subsystem equipment of target satellite
It is in the instruction of working condition and is forwarded to ground by rescuing satellite, on-orbit fault detection is completed.
Described robot of cruising includes multiple identical joints of planform, and joint pairwise orthogonal is connected, joint
The mounting hole for being respectively arranged at the two ends with mounting hole and two ends is orthogonal, and robot is cruised by each joint after obtaining path planning
Relative motion is creeped to the star catalogue test interface position of target satellite.
Present invention advantage compared with prior art is：
(1) the inventive method will cruise robot for the detection and maintenance of the on-orbit fault of satellite or spacecraft, make machine
Device people cruises in satellite surface and carries out detection maintenance, overcomes prior art and sentences in the telemetry intelligence (TELINT) passed back by analyzing satellite
During disconnected satellite failure, if TT＆C system breaks down can not obtain telemetry intelligence (TELINT) to analyze the deficiency of failure, can survey
Control system is detected and repaired when breaking down to satellite failure；
(2) compared with prior art, physical fault occurs in satellite subsystem equipment can not be by initial for the inventive method
When change is repaired, by control centre's computer adapter satellite bus controller of robot of cruising, and then control all
It is, to the target satellite subsystem equipment of bus, to realize the physical fault reparation to target satellite；
(3) compared with prior art, the robot integration interface of cruising of proposition is connected and is formed the inventive method, with pole
Degree of deformation high, in firing a rocket, can roll up gathering to reduce volume；After being ejected, can independently be launched with configuration, profit
Changed with its own shape and control its relative attitude precision with target landing face, set up accurate landing state, landing is defended to target
After star, robot can be by multi-motion modes execution times such as itself change of configuration realization wriggling, winding, rolling and climbings
Business.
Brief description of the drawings
Fig. 1 is the inventive method flow chart.
Specific embodiment
The present invention proposes a kind of on-orbit fault detection based on robot of cruising and maintaining method, for on-orbit fault detection
Task, below in conjunction with the accompanying drawings and example is described in detail to the inventive method, the present invention is a kind of based on robot of cruising as shown in Figure 1
On-orbit fault detection and maintaining method comprise the following steps：
(1) will cruise robot be put in rescue satellite and will rescue satellite launch to target satellite, when rescue satellite and mesh
When mark satellite distance is not more than 1km, the attitude and rail of order rescue Satellite observation target satellite topographical information and solving target satellite
Target satellite topographical information, attitude and track are delivered to the control centre's computer in robot of cruising, by rescue flight behind road
Release separating mechanism control on device robot of cruising is separated with rescue satellite, and order robot of cruising is pushed away by its orbits controlling
Power device is close to according to the track of target satellite towards target satellite, wherein, robot of cruising is logical including control centre's computer, detection
Letter module, orbits controlling thruster, attitude control thruster；
(2) cruise robot with rescue satellite separate after, rescue satellite measure the attitude track of target satellite in real time and give
To robot of cruising, the attitude track of robot real-time reception target satellite of cruising is made and by its detection communication module measurement mesh
After marking the position of satellite, open its orbits controlling thruster amendment displacement track and come close to target satellite, while using survey
The position of the target satellite for measuring calculates the distance of cruise robot and target satellite and judges；
(3) if the distance no more than 100m of cruise robot and target satellite, the robot that makes to cruise is defended according to target
The attitude of star opens attitude control thruster adjustment athletic posture, while the appearance of the target satellite sent in real time using rescue satellite
State calculates attitude of the target satellite under robot inertial coodinate system of cruising and judges, if cruising robot and target satellite
Distance is more than 100m, then the robot that makes to cruise continues the attitude track of real-time reception target satellite and detects communication module by its
After measuring the position of target satellite, its orbits controlling thruster correction motion track is opened near target satellite, until machine of cruising
The distance of device people and target satellite is not more than 100m, then repeats above-mentioned robot adjustment athletic posture of cruising, calculates target and defend
The process of attitude and judgement of the star under robot inertial coodinate system of cruising；
(4) if robot of cruising is not more than 10 with the attitude difference of target satellite-3°, then the mesh for being sent according to rescue satellite
Mark satellite topographical information obtains the adsorption plane of target satellite, then makes robot of cruising be adjusted using attitude control thruster and cruises
The attitude of robot is parallel with the adsorption plane of target satellite up to robot of cruising, if cruising robot and the appearance of target satellite
State difference is more than 10-3°, then make robot of cruising adjust its attitude using attitude control thruster until robot of cruising is defended with target
The attitude difference of star is not more than 10-3°, then repeat above-mentioned acquisition target satellite adsorption plane, regulation cruise robot attitude it is straight
To adsorption plane parallel process of the robot with target satellite of cruising, wherein, adsorption plane is preferably flat to have in target satellite surface
Face degree and area are more than the region of robot of cruising；During the pose adjustment landed before adsorbing, robot of cruising is more than one
The multi-body system of free degree structure changes, overall attitudes vibration is reached by the relative motion in each joint；
(5) robot of the cruising adsorption plane to target satellite vertical with the parallel surface of target satellite adsorption plane is made to collide, and
Collision energy is unloaded in its adsorption-buffering mechanism of Contact, target satellite is adhered to by the adhesion Array of heteropolymer material
Adsorption plane, after then making to cruise robot by star catalogue information around detection communication module detection adsorption plane, uses control centre
The star catalogue test that computer is planned to target satellite according to the Artificial Potential Field Method path planning algorithm based on real-time detection information connects
The path of mouth position, makes Robot path planning of cruising move to the star catalogue test interface of target satellite after obtaining path planning
Position；Robot cruise during target satellite surface is cruised, the main disturbance for being subject to come from target satellite and target are defended
The influence of the Three-Dimensional contact reaction force that star catalogue face produces when being contacted with robot adhesion Array of cruising.Due to target satellite attitude
Athletic meeting causes the inclination angle that target surface is sought connections with by robot to change so that the change of contact force in absorption and desorption process
It is more complicated, it is necessary to motion according to robot is predicted estimations to disturbance, while carrying out feedforward plus feedback complex is controlled, make
Its motion process is more steady reliable, is not in unexpected desorption.
(6) after reaching the star catalogue test interface position of target satellite, make to cruise robot by its control centre's computer with
The star catalogue test interface connection of target satellite, sets up its link connection with target satellite；Target satellite star catalogue test interface is carried
Supply various functions such as externally fed, analog signal excitation, wired remote control, wire-link telemetry, it is this based on star catalogue test interface
In-orbit manipulation is a kind of information control mode, is connected by with target satellite peripheral circuits, instructs transmission to realize.By this
Mode, robot of cruising can implement fault detect, instruction to target satellite and repair or adapter control；
The general star catalogue ground test interface in typical case rail satellite platform part high mainly includes satellite and the rocket breakaway plug interface, control
Subsystem test star catalogue interface processed and BCRB power-off plug interfaces.Wherein, satellite and the rocket breakaway plug interface realize whole star centrally connected power supply,
Enabled for sub-power distribution system monitoring, wired forms remote measuring and controlling (the whole all subsystem observing and controlling of star), priming system module etc., the satellite and the rocket point
It is connected with rocket by umbilical cable from preceding, torsion spring drives door closure to be covered after separation；Control subsystem test star catalogue interface
It is mainly used in being passed under signal is examined in the pumping signal upload of simulation sensor with executing agency, specifically includes too quick pumping signal, OBC
Detection signal, satellite and the rocket separating switch signal, thruster jet pulse signal, reaction wheel detection signal, gyro pumping signal,
SADA collections signal, the quick pumping signal of star, using matching plastic slab cover blend compounds cloth close after the completion of pylon test
Envelope；BCRB power-off plug interfaces are used for whether relay when the whole star of ground surveillance turns interior electricity to be off, and pylon has been tested
Into rear the sealing of blend compounds cloth is covered using matching plastic slab.Satellite in orbit when, although these interfaces be in it is close
Envelope is protected or short-circuit protection state, but its internal circuit is still connected with whole star, and loop is complete, if applied by wired forms
Instruction is encouraged, and Stateful Inspection or adapter control can be implemented to satellite.
Robot cruise after determining to implement control, control instruction be compiled as electric signal by certain coding rule,
The command receiver of target satellite is passed to by interface again, director data is sent into integrated electronicses point after receiver decoding is
System, the central computer of target satellite integrated electronicses subsystem drives respective distal end equipment to perform control by data/address bus in star again
System instruction；Measuring loop is opposite with above-mentioned control loop sense.Part star catalogue interface is joined directly together with unit in star, can not
Actuating station unit is directly controlled or measured by integrated electronicses subsystem.
(7) control centre's computer of bionical robot of cruising is made to send handshake to target satellite,
If both shake hands successfully, control centre's computer of robot of cruising is made to all subsystems of target satellite
Equipment carries out bus cycles property poll (carrying out periodic poll to each subsystem for being connected to satellite bus)；
If each subsystem equipment of target satellite returns to the instruction of bus cycles property poll
System is when being polled, the poll instruction that each subsystem of target satellite sends back) " service request bit " in status word be set to
1, then the target satellite subsystem equipment is in running order, sends all subsystem equipment of target satellite and is in working condition
Instruction and be forwarded to ground by rescuing satellite, on-orbit fault detection is completed,
If there is the " service request during subsystem equipment returns to bus cycles property poll command status word in target satellite
Position " is set to 0, then be transferred to step (8),
If both shake hands unsuccessful, step (8) is transferred to；
(8) control centre's computer of robot of cruising is made to obtain the mark that target satellite is connected to each subsystem equipment of bus
Know position and deliver to ground by rescuing satellite forwarding, then receive each point of the target satellite sent by the ground of rescue satellite transfer
The initiation parameter of system equipment flag, is initialized, weight using each subsystem equipment of the initiation parameter control targe satellite
Bus cycles property poll newly is carried out to each subsystem of target satellite,
If there is the " service request during subsystem equipment returns to bus cycles property poll command status word in target satellite
Position " is set to 0, then corresponding target satellite subsystem physical fault, makes control centre's computer adapter mesh of robot of cruising
Mark satellite bus control, send target satellite there is subsystem equipment physical fault and robot of cruising adapter target is defended
The instruction of star is simultaneously forwarded to ground by rescuing satellite, and on-orbit fault detection is completed,
If each subsystem equipment of target satellite is returned " service request bit " in bus cycles property poll command status word
1 is set to, then the subsystem equipment fault that target satellite breaks down is excluded, sends all subsystem equipment of target satellite
It is in the instruction of working condition and is forwarded to ground by rescuing satellite, on-orbit fault detection is completed.
Robot of cruising includes the snakelike emulated robot in multiple identical joints of planform, and joint two ends respectively set
There is the mounting hole at mounting hole and two ends orthogonal, each joint is connected by the vertical mounting hole pairwise orthogonal in two ends, when one
When yawing moment rotates, another joint rotates in pitch orientation, realizes the motion in three dimensions in individual joint.Cruise machine
The integrated motor of each intra articular of people, decelerator, drive circuit, sensor (detection communication module) and bus communication circuitry, often
Individual joint is mechanically connected and heat transfer by axle, magnet, connector body, and two joints are carried out by female and public plug
The connection of power and signal electricity, is closed intersegment angle and is measured by encoder.At the head and the tail two ends of robot of cruising equipped with big
Specific impulse thruster (orbits controlling thruster, attitude control thruster), can control robot autonomous flight in the air, and outside
Surface is coated with viscosity absorption array and the curved solar energy cell panel of the strong absorption of special design, the heteropolymer of weak disengaging,
Wherein, the viscosity absorption array of the heteropolymer robot that can make to cruise adheres to target satellite celestial body surface, curved solar energy electricity
Pond plate can provide electric energy for robot of cruising.Robot of cruising is additionally provided with control centre's computer, to control robot of cruising
Communication with the outside world, position and attitude change, detection surrounding enviroment and data processing.
In addition, robot of cruising has high degree of deformation, in firing a rocket, gathering can be rolled up to reduce volume；
After being ejected, can independently be launched with configuration, using its relative attitude essence with target landing face of its own shape change control
Degree, sets up accurate landing state；Land to after target satellite, cruise robot can by itself change of configuration realize wriggle,
The multi-motion modes such as winding, rolling and climbing perform task.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (2)
1. a kind of on-orbit fault detection and maintaining method based on robot of cruising, it is characterised in that comprise the following steps：
(1) will cruise robot be put in rescue satellite and will rescue satellite towards target satellite launch, when rescue satellite and target
When satellite distance is not more than 1km, after the attitude and track of rescue Satellite observation target satellite topographical information and solving target satellite
Target satellite topographical information, attitude and track are delivered to the control centre's computer in robot of cruising, robot of cruising is controlled
Separated with rescue satellite, and make robot of cruising by its orbits controlling thruster according to the track of target satellite towards target satellite
It is close to；The robot of cruising is pushed away including control centre's computer, detection communication module, orbits controlling thruster, gesture stability
Power device；
(2) cruise robot with rescue satellite separate after, rescue satellite is measured the attitude track of target satellite in real time and is delivered to
Cruise robot, order cruise robot real-time reception target satellite attitude track and measure target by its detection communication module
Behind the position of satellite, target satellite is approached using its orbits controlling thruster amendment displacement track, while using measurement
The position of the target satellite for obtaining calculates the distance of cruise robot and target satellite and judges；
(3) if cruising robot and the distance no more than 100m of target satellite, make to cruise robot according to target satellite
Attitude opens attitude control thruster adjustment athletic posture, while receiving the attitude of the target satellite that rescue satellite sends in real time simultaneously
It is transferred to step (4)；If robot of cruising, more than 100m, makes robot continuation real-time reception of cruising with the distance of target satellite
After the attitude track of target satellite and the position by its detection communication module measurement target satellite, its orbits controlling thrust is used
Device correction motion track is near target satellite, until cruise robot and the distance no more than 100m of target satellite, then make to patrol
Attitude control thruster adjustment athletic posture is opened according to the attitude of target satellite by trip robot, while it is real-time to receive rescue satellite
The attitude of the target satellite of transmission is simultaneously transferred to step (4)；
(4) if robot of cruising is not more than 10 with the attitude difference of target satellite-3°, then the target for being sent according to rescue satellite is defended
The adsorption plane of star looks information searching target satellite, then makes robot of cruising adjust machine of cruising using attitude control thruster
The attitude of people is parallel with the adsorption plane of target satellite up to robot of cruising, if robot of cruising is poor with the attitude of target satellite
More than 10-3°, then make robot of cruising adjust its attitude using attitude control thruster until cruise robot and target satellite
Attitude difference is not more than 10-3°, then repeat to find the absorption of target satellite according to the target satellite topographical information of rescue satellite transmission
Face, the robot that makes to cruise adjusts the attitude of robot of cruising until cruise robot and target satellite using attitude control thruster
Adsorption plane it is parallel；The adsorption plane is have preferable flatness and area more than robotic surface of cruising in target satellite surface
Long-pending region；
(5) adsorption plane collision of the robot vertical to target satellite of cruising is made, and in Contact by robotic surface of cruising
Then sticking attachment of polymers makes to cruise robot by detection communication module detection adsorption plane to target satellite adsorption plane
After surrounding star catalogue information, using the path of the star catalogue test interface position of control centre's computer project to target satellite, obtain
Robot path planning of cruising is made to creep to the star catalogue test interface position of target satellite after path planning；
(6) after reaching the star catalogue test interface position of target satellite, the robot that makes to cruise is by its control centre's computer and target
The star catalogue test interface connection of satellite, sets up its link connection with target satellite；
(7) control centre's computer of robot of cruising is made to send handshake to target satellite,
If both shake hands successfully, control centre's computer of robot of cruising is made to all subsystem equipment of target satellite
Bus cycles property poll is carried out,
If each subsystem equipment of target satellite returns to " service request bit " the quilt in bus cycles property poll command status word
1 is set to, then the target satellite subsystem equipment is in running order, sends all subsystem equipment of target satellite and be in work
The instruction of state is simultaneously forwarded to ground by rescuing satellite, and on-orbit fault detection is completed,
If there is " service request bit " quilt during subsystem equipment returns to bus cycles property poll command status word in target satellite
0 is set to, is then transferred to step (8),
If both shake hands unsuccessful, control centre's computer adapter target satellite of the robot that makes to cruise is connected to bus
Each subsystem equipment, is transferred to step (8)；
(8) the control centre's computer of robot of making to cruise obtains the flag that target satellite is connected to each subsystem equipment of bus
And ground is delivered to by rescuing satellite forwarding, then receive each subsystem of target satellite sent by the ground of rescue satellite transfer
The initiation parameter of device identification position, is initialized using each subsystem equipment of the initiation parameter control targe satellite, again right
Each subsystem of target satellite carries out bus cycles property poll,
If there is " service request bit " quilt during subsystem equipment returns to bus cycles property poll command status word in target satellite
0 is set to, then corresponding target satellite subsystem physical fault, makes control centre's computer adapter target satellite of robot of cruising
Bus control right, sends target satellite and there is subsystem equipment physical fault and the finger of robot adapter target satellite of cruising
Make and be forwarded to ground by rescuing satellite, on-orbit fault detection is completed,
If each subsystem equipment of target satellite returns to " service request bit " the quilt in bus cycles property poll command status word
1 is set to, then the subsystem equipment fault that target satellite breaks down is excluded, sends all subsystem equipment of target satellite and locate
In working condition instruction and by rescuing satellite be forwarded to ground, on-orbit fault detection is completed.
2. a kind of on-orbit fault detection and maintaining method based on robot of cruising according to claim 1, its feature exists
Include multiple identical joints of planform in described robot of cruising, joint pairwise orthogonal is connected, and joint two ends are each
The mounting hole for being provided with mounting hole and two ends is orthogonal, obtains relative fortune of the robot by each joint of cruising after path planning
It is dynamic to creep to the star catalogue test interface position of target satellite.
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