CN112613187B - Ground accompanying device of spacecraft power supply and distribution system - Google Patents
Ground accompanying device of spacecraft power supply and distribution system Download PDFInfo
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Abstract
The invention belongs to the technical field of power supply and distribution systems of spacecrafts, and discloses a ground accompanying device of the power supply and distribution system of the spacecrafts, which comprises: the remote measuring interface module is used for acquiring on-orbit power supply and distribution data of the spacecraft in real time in a measurement and control arc section of the spacecraft, and transmitting the on-orbit power supply and distribution data at the initial moment into a spacecraft power supply and distribution system model as an initial value for simulation; the spacecraft power supply and distribution system model is used for simulating a power supply and distribution system of the spacecraft according to the received on-orbit power supply and distribution data to obtain simulated power supply and distribution data; the simulation intervention module is used for comparing the on-orbit power supply and distribution data with the corresponding simulation power supply and distribution data, and if the errors of the on-orbit power supply and distribution data and the corresponding simulation power supply and distribution data exceed a preset range, the on-orbit power supply and distribution data at the corresponding moment is used as an initial value of a spacecraft power supply and distribution system model to carry out simulation calculation. The method can realize accurate simulation of the non-measurement and control arc section and meet the monitoring requirement of the non-measurement and control arc section.
Description
Technical Field
The invention belongs to the technical field of power supply and distribution systems of spacecrafts, and particularly relates to a ground accompanying device of a power supply and distribution system of a spacecraft.
Background
The spacecraft power supply and distribution system is a key subsystem for generating, storing, changing, regulating and distributing electric energy of a spacecraft and is heart and blood of the spacecraft. With the development of complex spacecraft models represented by deep space exploration and manned aerospace, the complexity of a power supply and distribution system is continuously increased, and whether the power supply and distribution system can reliably and continuously provide stable energy for the spacecraft or not, and the success and failure of aerospace tasks are related, so that the power supply and distribution system has important significance for in-depth research on the power supply and distribution states of the power supply and distribution system of the spacecraft in air flight.
Chinese patent CN201710453230 provides a modeling method for a spacecraft energy system based on a Modelica model, which decomposes and constructs a power supply and distribution system of a spacecraft based on a Modelica language, and simulates the power supply and distribution system of the spacecraft. As shown in FIG. 1, the energy system model constructed by the energy system model construction method comprises a solar cell array model, a storage battery model, a PCU model, a main distributor and a load, wherein the devices are built based on a highly simulated Modelica model and comprise all design information of single-machine devices, but the devices are currently used for inputting initial values to realize offline simulation, the simulation process is asynchronous with the real process, in addition, the simulation calculation time in the simulation solving process is shorter and is far lower than the time interval of receiving data, so that error accumulation in the gradual calculation process is larger, and finally the simulation error is larger as the simulation time is longer, so that the real power supply and distribution state is difficult to reflect.
Therefore, the prior art still lacks effective digital means intervention for comprehensively grasping the state of the power supply and distribution system of the spacecraft, ground staff of the measurement and control arc section can acquire the power supply and distribution information of the power supply and distribution system of the spacecraft by receiving the information sent by the spacecraft in the operation process of the spacecraft, but when the spacecraft operates to a non-measurement and control arc section, for example, when signals are shielded by the earth, the corresponding power supply and distribution information cannot be acquired, and the prior art cannot realize real-time monitoring of the whole period of the spacecraft, so that the design of the ground accompanying device capable of acquiring the whole period power supply and distribution state of the power supply and distribution system of the spacecraft has important significance.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the invention provides a ground accompanying device of a spacecraft power supply and distribution system, which simulates a preset time step based on acquired on-orbit power supply and distribution data of a measurement and control arc section, realizes synchronization of a simulation process and a real process of the spacecraft, corrects parameters in a spacecraft power supply and distribution model through a simulation intervention module, and obtains a model capable of accurately simulating the running state of the spacecraft, thereby realizing accurate simulation of a non-measurement and control arc section and meeting the monitoring requirement of the non-measurement and control arc section.
To achieve the above object, according to one aspect of the present invention, there is provided a ground satellite device for a spacecraft power supply and distribution system, the device comprising a spacecraft power supply and distribution system model, a telemetry interface module, and a simulation intervention module, wherein: the remote measuring interface module is in communication connection with the spacecraft, and is used for acquiring on-orbit power supply and distribution data of the spacecraft in real time in a measurement and control arc section of the spacecraft, and transmitting the on-orbit power supply and distribution data at the initial moment to the spacecraft power supply and distribution system model for simulation; the spacecraft power supply and distribution system model is used for simulating a power supply and distribution system of a spacecraft according to the received on-orbit power supply and distribution data at the initial moment and a preset time step to obtain simulated power supply and distribution data at a plurality of moments, wherein the preset time step is consistent with the time interval of the remote measurement interface module for obtaining the on-orbit power supply and distribution data, and further the simulation process of the spacecraft power supply and distribution system model corresponds to the operation process of the spacecraft; the simulation intervention module is used for comparing the simulation power supply and distribution data with on-orbit power supply and distribution data at corresponding time, and taking the on-orbit power supply and distribution data at the corresponding time as an initial value of the spacecraft power supply and distribution system model to perform simulation calculation if the errors of the simulation power supply and distribution data and the on-orbit power supply and distribution data exceed a preset range so as to ensure the simulation accuracy of the spacecraft power supply and distribution system model and further ensure the simulation accuracy of the spacecraft power supply and distribution state in a non-measurement and control arc section.
Preferably, the accompanying device further includes a simulation prediction module, where the simulation prediction module is configured to use the simulation power supply and distribution data calculated by the spacecraft power supply and distribution system model as an initial value, and continuously iterate to calculate the simulation power supply and distribution data at the next moment, so as to obtain the simulation power supply and distribution data at the multiple moments in advance, and provide fault early warning when the deviation of the simulation running data exceeds a preset threshold.
Preferably, the accompanying device further comprises a triggering module, which is used for triggering the simulation prediction module to actively acquire the simulation power supply and distribution data.
Preferably, the preset threshold value is obtained through historical data of the spacecraft power supply and distribution system in normal operation.
Preferably, the on-orbit power supply and distribution data comprises the switching state and power consumption of all equipment in the spacecraft power supply and distribution system, the voltage and current of a bus, the port voltage and depth of discharge of a storage battery, the true output voltage and current of the storage battery and time; the simulation power supply and distribution data comprise the switch states and power consumption of all equipment in the spacecraft power supply and distribution system, the voltage and current of a bus, the port voltage and depth of discharge of a storage battery, the true output voltage and current of the storage battery and the corresponding time.
Preferably, the telemetry interface module adopts a TCP/IP protocol or a UDP protocol to transmit the on-orbit operation data, and analyzes the on-orbit operation data into a format required by the spacecraft power supply and distribution system model.
Preferably, the simulation intervention module further comprises an instruction receiving and converting module, wherein the instruction receiving module is used for receiving an external intervention instruction, and the converting module is used for converting the external intervention instruction into a format which can be identified by the spacecraft power supply and distribution system model so as to modify parameters in the spacecraft power supply and distribution system model.
Preferably, the spacecraft power supply and distribution system model is created based on a Modelica language.
In general, compared with the prior art, the ground accompanying device of the spacecraft power supply and distribution system has at least the following beneficial effects:
1. the spacecraft power supply and distribution system model simulates the spacecraft power supply and distribution system according to the preset time step, so that the operation synchronism of the accompanying device and the spacecraft can be ensured, the spacecraft power supply and distribution system is simulated by the spacecraft power supply and distribution model, namely, the waiting time is entered instead of the next simulation, and the simulation is performed when the preset time step is reached, so that the consistency with the real operation state of the spacecraft is ensured;
2. the simulation intervention module is utilized to intervene in time on the simulation power supply and distribution data with larger errors according to the received on-orbit power supply and distribution data in the measurement and control arc section, so that iterative accumulation of errors is avoided, further, the simulation accuracy of the measurement and control arc section is ensured, and further, the higher simulation accuracy is ensured when the simulation is performed on the non-measurement and control arc section;
3. the simulation prediction module in the method does not need to wait, and timely performs simulation calculation according to the simulated power supply and distribution data, so that the simulation power supply and distribution data at a plurality of subsequent moments can be predicted in advance, an operation manager can know the operation state of the spacecraft at the plurality of subsequent moments in advance, and then the possible faults or abnormal working states of the power supply and distribution system of the spacecraft are warned, so that the manager is ready in advance;
4. the application provides a satellite device of a spacecraft power supply and distribution system based on the spacecraft power supply and distribution system, which can comprehensively reflect the real running state of the spacecraft power supply and distribution system by means of simulation power supply and distribution data of a spacecraft power supply and distribution system model and on-orbit power supply and distribution data obtained through receiving.
Drawings
FIG. 1 schematically illustrates a modular schematic of a power supply and distribution system model in an embodiment of the present disclosure;
FIG. 2 schematically illustrates a workflow diagram of a ground satellite of a spacecraft power supply and distribution system in an embodiment of the disclosure;
FIG. 3 schematically illustrates a workflow diagram of a telemetry interface module in an embodiment of the present disclosure;
FIG. 4 schematically illustrates a workflow diagram of a simulation intervention module in an embodiment of the disclosure;
FIG. 5 schematically illustrates a workflow diagram of a simulation predictive module in an embodiment of the disclosure.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The invention provides a ground accompanying device of a spacecraft power supply and distribution system, which is shown in fig. 2 and comprises a spacecraft power supply and distribution system model, a telemetry interface module and a simulation intervention module.
The remote measuring interface module is in communication connection with the spacecraft, and is used for acquiring on-orbit power supply and distribution data of the spacecraft in real time in a measurement and control arc section of the spacecraft, and transmitting the on-orbit power supply and distribution data at an initial moment into a power supply and distribution system model of the spacecraft as an initial value for simulation.
In the embodiment of the disclosure, as shown in fig. 3, the telemetry interface module transmits the on-orbit power supply and distribution data by adopting a TCP/IP protocol or a UDP protocol, and parses the on-orbit power supply and distribution data into a format required by the spacecraft power supply and distribution system model.
The telemetry interface module comprises a subscription unit for selecting corresponding data from the on-orbit power supply and distribution data according to simulation parameter requirements in the spacecraft power supply and distribution system model. The specific subscription unit acquires subscribed on-orbit power supply and distribution data through a TCP/IP protocol or a UDP protocol, unpacks the received on-orbit running data packet according to a telemetry outline data protocol specification, and analyzes a data frame format according to telemetry and equipment parameter association configuration so that the on-orbit power supply and distribution data are compatible with a spacecraft power supply and distribution system model.
The spacecraft power supply and distribution system model is used for simulating a power supply and distribution system of a spacecraft according to a preset time step based on the received on-orbit power supply and distribution data at the initial moment to obtain simulation power supply and distribution data at a plurality of moments, wherein the preset time step is consistent with the time interval of the remote measurement interface module for obtaining the on-orbit power supply and distribution data, and further the simulation process of the spacecraft power supply and distribution system model corresponds to the operation process of the spacecraft.
The on-orbit power supply and distribution data comprise the switching state and power consumption of all equipment in the spacecraft power supply and distribution system, the voltage and current of a bus, the port voltage and depth of discharge of a storage battery, the true output voltage and current of the battery and the time; the simulation power supply and distribution data comprise the switch states and power consumption of all equipment in the spacecraft power supply and distribution system, the voltage and current of a bus, the port voltage and depth of discharge of a storage battery, the true output voltage and current of the storage battery and the corresponding time.
After the on-orbit power supply and distribution data injected by the telemetry interface module are obtained by the spacecraft power supply and distribution system model, a solver starts to simulate, and because the solving process is very short, the general preset time step is far longer than the solving time, the solver can not immediately perform the next solving after simulating the power supply and distribution data at the solving position, but is in a waiting state, and performs the next solving when waiting for the preset time step, so that the real running state of the spacecraft is kept consistent.
The spacecraft power supply and distribution system model can be established based on a Modelica model, and because the spacecraft power supply and distribution system has various equipment forms, the adoption of one construction method often cannot meet the requirements, and different construction strategies can be adopted according to the equipment forms, for example, direct modeling based on principles is adopted for a model with clear principle model mathematical expression maturity; for models with unclear principle or immature model mathematical expression, modeling is performed by combining data or test data of equipment, and for models with high complexity, simplified processing can be performed, and modeling can be performed in a mode based on an empirical formula. The main key equipment in the spacecraft power supply and distribution system is ensured to be built in the spacecraft power supply and distribution system model, so that the spacecraft power supply and distribution system model can truly reflect the spacecraft power supply and distribution system in reality.
The simulation intervention module is used for comparing the on-orbit power supply and distribution data with simulation power supply and distribution data at corresponding time, and if the errors of the on-orbit power supply and distribution data and the simulation power supply and distribution data at the corresponding time exceed a preset range, the simulation power supply and distribution data at the corresponding time are used as initial value input values to be solved in the spacecraft power supply and distribution model. In the embodiment of the disclosure, when deviation occurs in comparing on-orbit power supply and distribution data with corresponding simulation power supply and distribution data, input data in a spacecraft power supply and distribution system model is corrected in a manual interference or task planning interference mode. As shown in fig. 4, the interference data may be injected by means of manual interaction or task planning instruction sequences, and the data converter converts the interference data into manual interference instructions, and the manual interference instructions are injected into the solver to be used as the input state of the current solution to drive the simulation solution. The simulation intervention module further comprises an instruction receiving and converting module, wherein the instruction receiving and converting module is used for receiving external intervention instructions and converting the external instructions into a preset format so as to modify input parameters in a power supply and distribution system model of the spacecraft.
Therefore, the input initial value of the spacecraft power supply and distribution system model can be corrected in the measurement and control arc section, error accumulation is avoided, so that the spacecraft power supply and distribution system model is more matched with the running state of the spacecraft, the simulation accuracy in the measurement and control arc section is ensured, and the simulation data in the non-measurement and control arc section are more consistent with the true value.
The accompanying device further comprises a simulation prediction module, as shown in fig. 5, wherein the simulation prediction module is used for acquiring the simulation power supply and distribution data, and taking the simulation power supply and distribution data as an initial value, continuously and iteratively calculating the simulation power supply and distribution data at the next moment without waiting, so as to obtain the simulation power supply and distribution data at the multiple moments in advance and provide fault early warning when the deviation of the simulation running data exceeds a preset threshold value. The preset threshold value is obtained through historical data of the spacecraft power supply and distribution system during normal operation, and the time of iterative solution can be set according to the time predicted by actual needs.
The simulation prediction module further comprises a triggering module used for triggering the simulation prediction module to actively acquire the simulation power supply and distribution data.
In summary, the ground accompanying device of the spacecraft power supply and distribution system disclosed by the application simulates on-orbit power supply and distribution data serving as an initial value, updates a solving value when errors of the simulation data and the on-orbit power supply and distribution data are large, achieves solving accuracy of the spacecraft in a measurement and control arc section, achieves simulation accuracy of a non-measurement and control arc section, and can predict the running state of the spacecraft power supply and distribution system in advance through a simulation prediction module so as to obtain early warning in time.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (8)
1. The ground accompanying device of the spacecraft power supply and distribution system is characterized by comprising a spacecraft power supply and distribution system model, a telemetry interface module and a simulation intervention module, wherein:
the remote measuring interface module is in communication connection with the spacecraft, and is used for acquiring on-orbit power supply and distribution data of the spacecraft in real time in a measurement and control arc section of the spacecraft, and transmitting the on-orbit power supply and distribution data at the initial moment to the spacecraft power supply and distribution system model for simulation;
the spacecraft power supply and distribution system model is used for simulating a power supply and distribution system of a spacecraft according to the received on-orbit power supply and distribution data at the initial moment and a preset time step to obtain simulated power supply and distribution data at a plurality of moments, wherein the preset time step is consistent with the time interval between the two on-orbit power supply and distribution data obtained by the telemetry interface module, and further the simulation process of the spacecraft power supply and distribution system model corresponds to the operation process of the spacecraft;
the simulation intervention module is in communication connection with the telemetry interface module and the spacecraft power supply and distribution system model, and is used for comparing the simulation power supply and distribution data with on-orbit power supply and distribution data at corresponding moments, and if errors of the simulation power supply and distribution data exceed a preset range, the on-orbit power supply and distribution data at the corresponding moments are used as initial values of the spacecraft power supply and distribution system model to perform simulation calculation so as to ensure simulation accuracy of the spacecraft power supply and distribution system model and further ensure simulation accuracy of the spacecraft to the spacecraft power supply and distribution state in a non-measurement and control arc section.
2. The ground accompanying device according to claim 1, further comprising a simulation prediction module, wherein the simulation prediction module is configured to use the simulation power supply and distribution data calculated by the spacecraft power supply and distribution system model as an initial value, and continuously iterate to calculate the simulation power supply and distribution data at the next moment, so as to obtain the simulation power supply and distribution data at the multiple moments in advance, and provide fault early warning when the deviation of the simulation operation data exceeds a preset threshold.
3. The ground companion device of claim 2 wherein the simulation prediction module further comprises a triggering module for triggering the simulation prediction module to actively acquire the simulated power supply and distribution data.
4. The ground satellite apparatus of claim 2, wherein the predetermined threshold is obtained from historical data of the spacecraft power supply and distribution system during normal operation.
5. The ground satellite apparatus of claim 1, wherein the on-orbit power supply and distribution data comprises switch status and power consumption of all devices in the spacecraft power supply and distribution system, voltage and current of bus, battery port voltage and depth of discharge, battery true output voltage and current, and time;
the simulation power supply and distribution data comprise the switch states and power consumption of all equipment in the spacecraft power supply and distribution system, the voltage and current of a bus, the port voltage and depth of discharge of a storage battery, the true output voltage and current of the storage battery and the corresponding time.
6. The ground satellite device of claim 1, wherein the telemetry interface module transmits the on-orbit power supply and distribution data using a TCP/IP protocol or a UDP protocol and parses the on-orbit power supply and distribution data into a format required by the spacecraft power supply and distribution system model.
7. The ground companion device of claim 1 wherein the simulation intervention module further comprises a command receiving and converting module, wherein the command receiving module is configured to receive an external intervention command, and the converting module is configured to convert the external intervention command into a format recognizable by the spacecraft power supply and distribution system model to enable modification of parameters in the spacecraft power supply and distribution system model.
8. The ground satellite device of claim 1, wherein the spacecraft power supply and distribution system model is created based on a Modelica language.
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| FR3017213B1 (en) * | 2014-01-31 | 2016-02-05 | Thales Sa | RADIOFREQUENCY METHOD AND SYSTEM FOR DETERMINING, BY TORQUE OF SPACE ENGINES, THE RELATIVE ANGULAR POSITION BETWEEN SEVERAL REMOTE SPACE DEVICES |
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| CN104298128A (en) * | 2014-09-29 | 2015-01-21 | 哈尔滨工业大学 | Ground simulation method for spacecraft navigation guidance technology |
| CN107991902A (en) * | 2017-12-07 | 2018-05-04 | 北京空间技术研制试验中心 | A kind of modeling of electric power system of spacecraft and emulation mode |
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