CN113225149B - Distributed micro-satellite micro-vibration signal acquisition system and application method thereof - Google Patents
Distributed micro-satellite micro-vibration signal acquisition system and application method thereof Download PDFInfo
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Abstract
The invention discloses a distributed microsatellite micro-vibration signal acquisition system and an application method thereof, wherein the system comprises a distributed digital micro-vibration acquisition array, a power control distribution single machine, an on-board computer and a data transmission subsystem, the distributed digital micro-vibration acquisition array comprises a plurality of micro-vibration acquisition modules which are arranged on different vibration transmission paths of a satellite, the power supply end of each micro-vibration acquisition module is connected with the output end of the power control distribution single machine, the output end of each micro-vibration acquisition module is connected with the on-board computer, the input end of the power control distribution single machine is connected with an on-board primary power supply, and the on-board computer is respectively connected with the control end of the power control distribution single machine and the data transmission subsystem through buses. The invention aims at the problem that the existing micro-vibration signal acquisition system is difficult to meet the requirements of the micro-satellite on weight reduction, consumption reduction and acquisition precision, can solve the high-precision measurement and reliable downloading of the micro-vibration signal under the in-orbit operation of the micro-satellite, and additionally provides a temperature measurement function required by a satellite thermal control subsystem.
Description
Technical Field
The invention belongs to a spacecraft signal acquisition and transmission technology, and particularly relates to a distributed micro-satellite micro-vibration signal acquisition system and an application method thereof.
Background
The high-precision earth observation spacecraft can obtain high-quality remote sensing images, and has important strategic significance for occupying high points of space strategy and maintaining national space safety. The imaging quality of satellites such as 'high resolution two' and 'Jilin first' emitted in China already enters sub-meter resolution, but still has a large difference from the international top level. One very important factor is that the attitude stability and pointing accuracy of the spacecraft structural platform are seriously affected by micro-vibration disturbance, so that the working performance (such as imaging quality) of the satellite-borne sensitive load is reduced. At present, researches agree that micro-vibration disturbance sources such as a flywheel and the like become bottlenecks restricting the development of a high-precision spacecraft platform, and in order to reduce or eliminate the influence of the micro-vibration on the high-precision spacecraft platform, micro-vibration signals need to be collected and processed, a micro-vibration generation mechanism is analyzed, a micro-vibration transmission rule is obtained, and a corresponding micro-vibration control method is researched. On a spacecraft platform which is subjected to micro-vibration control, on-orbit micro-vibration data acquisition is also needed to be carried out and transmitted to the ground to carry out off-line analysis of the micro-vibration data and evaluation of vibration control performance. Therefore, the acquisition and transmission of the micro-vibration signals are necessary ways for verifying the structural design and micro-vibration control of the spacecraft.
At present, the micro-vibration acquisition device for spaceflight mostly adopts a centralized acquisition management scheme, namely a micro-vibration sensor scheme of driving a multi-channel analog interface by 1 independent acquisition processing single machine. The acquisition and processing single machine realizes the functions of driving, signal conditioning, acquisition, processing, storage and transmission of a multi-channel sensor, the micro-vibration sensor mostly adopts a variable capacitance type acceleration sensor scheme with an analog signal interface, such as PCB352A21, BK4517 and the like, and the micro-vibration sensor has the advantages of multiple alternative sensor types, low cost and flexible use. However, such solutions have disadvantages including: 1) independent acquisition/storage/transmission single machines need to be developed, so that the weight and power consumption of the satellite are obviously increased, and the performance of the whole satellite can be directly influenced by the sensitivity of the micro satellite to the quality, the power consumption and the like. 2) And signal transformation and signal acquisition separation. The inside of the analog acceleration sensor only realizes simple electromechanical signal conversion, the signal is weak, and the signal needs to be transmitted to an acquisition processing single machine through a cable and then acquired and processed, and the weak signal is very easy to be interfered and polluted by various noises in the transmission process, so that the requirement of 10 for acquiring the micro-vibration signal is difficult to meet-5g precision is toHowever, the cost such as volume and power consumption increases sharply to ensure accuracy, and the economical efficiency is poor. 3) The temperature drift influence is reduced or eliminated, extra temperature measuring equipment needs to be added, extra temperature measuring signal transmission channels are added, the assembly difficulty is increased, temperature measuring points and micro-vibration measuring devices are difficult to be strictly arranged at the same position, and the temperature compensation effect is weakened.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the problem that the existing micro-vibration signal acquisition system is difficult to meet the requirements of the micro-satellite on weight reduction, consumption reduction and acquisition precision, the distributed micro-satellite micro-vibration signal acquisition system and the application method thereof are provided, aiming at solving the problems of high-precision measurement and reliable downloading of the micro-vibration signal by the micro-satellite in the in-orbit operation and additionally providing the temperature measurement function required by the satellite thermal control subsystem.
In order to solve the technical problems, the invention adopts the technical scheme that:
the utility model provides a little vibration signal collection system of distributing type microsatellite, includes that little vibration of distributing type digit gathers array, power control distribution unit, on-board computer and data transmission branch system, little vibration of distributing type digit gathers the array and includes a plurality of little vibration collection module of installing respectively on the different vibration transmission path of satellite, the feeder ear of little vibration collection module links to each other with the output of power control distribution unit, the output links to each other with on-board computer, the input of power control distribution unit links to each other with the last primary power of star, on-board computer links to each other with control terminal, the data transmission branch system of power control distribution unit respectively through the bus.
Optionally, the micro-vibration acquisition module is an MEMS device, and the MEMS device is integrated with an acceleration sensitive device and an acquisition and conditioning circuit, and an output end of the acceleration sensitive device is connected to the satellite-borne computer through the acquisition and conditioning circuit.
Optionally, the acceleration sensing device is a comb capacitance differential structure.
Optionally, the acquisition conditioning circuit comprises a capacitance/voltage conversion circuit and an analog-to-digital conversion circuit connected in series.
Optionally, the power control distribution stand-alone machine comprises a DC/DC conversion circuit, a distribution switch, a remote measurement and control module, and a bus interface, wherein an input end of the DC/DC conversion circuit is connected to a last satellite power supply, an output end of the DC/DC conversion circuit is connected to a power end of the bus interface, the DC/DC conversion circuit is connected to a power end of the micro-vibration acquisition module through the distribution switch, and a control end of the distribution switch is connected to the satellite-borne computer through the bus interface.
Optionally, the bus interface is a CAN bus interface, and the satellite borne computer is respectively connected with the control end of the power control distribution single machine and the data transmission subsystem through a CAN bus.
Optionally, the satellite-borne computer includes a processor, a FLASH memory, an SDRAM memory, a satellite-borne FPGA, a voltage interface circuit, an RS-422 interface circuit, a bus interface circuit, and a sensor interface, the sensor interface is an RS-422/SPI duplex bus interface, the processor is connected to the FLASH memory, the SDRAM memory, the satellite-borne FPGA respectively, the satellite-borne FPGA is connected to the RS-422 interface circuit, the bus interface circuit, and the sensor interface circuit through the voltage interface circuit, the bus interface circuit is connected to the control terminal of the power control distribution unit and the data transmission subsystem respectively, and the RS-422 interface circuit is connected between the voltage interface circuit and the sensor interface.
Optionally, the data transmission subsystem comprises a route processing unit, a data transmission integrated machine, a microwave switch and a data transmission satellite-ground antenna which are connected in sequence, and the route processing unit is connected with the satellite-borne computer through a CAN bus.
Optionally, a temperature sensor is integrated inside the micro-vibration collection module.
In addition, the invention also provides an application method of the distributed microsatellite micro-vibration signal acquisition system, which is characterized by comprising the following steps:
s1) collecting the start of a task T;
s2) according to the collection task T, inquiring a preset mapping table B to determine the configuration C of the distributed digital micro-vibration collection arrayT＝{LiThe mapping table B comprises any acquisition taskTkConfiguration C for prefetching corresponding distributed digital micro-vibration acquisition arrayTkThe configuration CTkMicro-vibration acquisition module L required to be used for acquiring task TiA set of (a);
s3) according to the configuration CTGenerating a micro-vibration acquisition module L for controlling each required useiThe power distribution instruction is sent to the power supply control distribution single machine through the bus, and the micro-vibration acquisition module L required to be used is distributed to each single machine through the power supply control distribution single machineiThe power distribution channel is powered up; micro-vibration acquisition module L required to be usediAutomatically initializing after power-on, and automatically starting acquisition and data transmission operation according to configuration parameters stored in last power-on;
s4), judging whether the task queue Q is empty, if the task queue Q is empty, skipping to execute the step S7), otherwise skipping to execute the step S5);
s5) fetching the head task Q in the task queue Q1；
S6) for header task q1The corresponding micro-vibration acquisition module performs parameter configuration, and the step S4 is executed;
s7) clearing the sensing data receiving buffer and starting new sensing data receiving operation;
s8) reading the sensing data receiving buffer;
s9) carrying out automatic analysis and parameter calculation on the acquired sensing data, if a local parameter updating instruction is generated by carrying out automatic analysis and parameter calculation, generating a corresponding parameter updating demand task and adding the task into an updating task queue Q, and if a sensing parameter updating remote control instruction is received, generating a corresponding parameter updating demand task and adding the task into the updating task queue Q; meanwhile, detecting the data type of the acquired sensing data, and if the data type is temperature data, skipping to execute the step S10); if the data is micro-vibration data, skipping to execute the step S11);
s10) submitting the separated temperature data to a thermal control subsystem by satellite software to serve as a reference value for temperature judgment and heating control; writing the separated temperature data into a telemetering parameter list through satellite software operated by a processor, finally downloading to the ground through a satellite-ground telemetering channel in the data transmission subsystem, and jumping to execute the step S12);
s11) judging whether the preset data transmission mode is a direct transmission mode, if not, firstly storing data by the microprocessor, then sending the micro-vibration data to the bus through the star FPGA, and then transmitting the micro-vibration data to the ground through a satellite-ground remote measuring channel in the data transmission subsystem; if the direct transmission mode is adopted, the micro-vibration data are directly sent to a bus through the satellite FPGA and then are transmitted to the ground through a satellite-ground remote measuring channel in the data transmission subsystem;
s12) judging whether the preset acquisition task duration is reached or the local Flash storage resource of the satellite-borne computer is exceeded, if one of the conditions is met, judging that the acquisition task T is finished, and according to the configuration CTGenerating a micro-vibration acquisition module L for controlling each required useiThe power distribution instruction is sent to the power supply control distribution single machine through the bus, and the micro-vibration acquisition module L required to be used is distributed to each single machine through the power supply control distribution single machineiThe power distribution channel is powered off; micro-vibration acquisition module LiThe configuration parameters are written into a local Flash storage circuit to be used for power-on configuration after the satellite borne computer is restarted.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
firstly, the invention does not need to be additionally provided with a micro-vibration acquisition and processing single machine. The required functions can be directly realized by multiplexing the satellite borne computer and the PCDU single machine and modifying FPGA software to carry out interface expansion. The space, the quality, the power consumption and the cost are saved, and the design difficulty is reduced.
Secondly, the invention reduces the difficulty of realizing high-precision micro-vibration acquisition. In the traditional centralized design method, signal transformation and acquisition are separated, weak electric signals are easily polluted by electromagnetism, ground noise and transmission noise in the transmission process, and the acquisition precision is difficult to guarantee. And all signal transformation, acquisition and temperature correction of the distributed digital micro-vibration acquisition module are completed locally, so that interference factors introduced in the signal transmission process can be reduced to the minimum. The acquisition module adopts a digital communication interface, ensures high reliability of acquired data transmission, is not easily influenced by transmission distance, and indirectly improves the flexibility of installation layout.
Thirdly, the extensibility of the acquisition system is better. As the distributed digital micro-vibration acquisition array can adopt digital communication interfaces such as RS-422/SPI and the like, either one of the two types of interfaces or the two types of interfaces can be used in a mixed way. The existing interface resources of the spaceborne computer can be fully utilized, the expansion cost is low, and the system expansibility is better.
Fourthly, the invention simplifies the design of the micro-vibration data transmission channel. The invention multiplexes the bus channel between the spaceborne computer and the data transmission subsystem, and transmits the micro-vibration data stored on the spaceborne computer by utilizing the idle time of the bus. Therefore, the design is simplified and the reliability of the system is improved.
Fifthly, the invention can further expand the single micro-vibration function into the micro-vibration/temperature acquisition function, has more flexible working mode, and can be reused as temperature measurement equipment of the thermal control subsystem as an important supplement of the thermal control system.
Drawings
Fig. 1 is a schematic structural diagram of a system according to an embodiment of the present invention.
Fig. 2 is a schematic cable connection diagram of the micro-vibration acquisition module using the RS-422 interface in the embodiment of the present invention.
Fig. 3 is a schematic cable connection diagram of a micro-vibration acquisition module using an SPI interface in an embodiment of the present invention.
Fig. 4 is a schematic basic flow chart of an application method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the distributed microsatellite micro-vibration signal acquisition system of the present embodiment includes a distributed digital micro-vibration acquisition array 1, a power control distribution unit 2, a satellite-borne computer 3 and a data transmission subsystem 4, the distributed digital micro-vibration acquisition array 1 includes a plurality of micro-vibration acquisition modules respectively installed on different vibration transmission paths of a satellite, a power supply terminal of the micro-vibration acquisition module is connected to an output terminal of the power control distribution unit 2, an output terminal of the micro-vibration acquisition module is connected to the satellite-borne computer 3, an input terminal of the power control distribution unit 2 is connected to a primary power supply on the satellite, and the satellite-borne computer 3 is respectively connected to a control terminal of the power control distribution unit 2 and the data transmission subsystem 4 through a bus. In order to achieve the purpose of high-precision micro-vibration acquisition and meet the special requirements of a micro-satellite for strictly controlling the weight and the Power consumption of the whole satellite, the embodiment provides a solution for replacing an old analog acceleration sensor with a high-integration micro-vibration acquisition module, replacing a central acquisition processing Unit with a multiplexing on-board computer 3 and realizing Power supply and Distribution of the acquisition module by using a Power Control and Power Control Distribution Unit 2(Power Control and Distribution Unit, abbreviated as PCDU).
In this embodiment, the Micro-vibration acquisition module is an MEMS (Micro-Electro-Mechanical System) device, an acceleration sensing device and an acquisition and conditioning circuit are integrated in the MEMS device, and an output end of the acceleration sensing device is connected to the on-board computer 3 through the acquisition and conditioning circuit. The micro-vibration acquisition module highly integrates the acceleration sensitive device and the acquisition conditioning circuit into a device with high integration level and provides an external power interface and a digital communication interface. In this embodiment, the acceleration sensing device is a comb-tooth capacitance differential structure, which is an existing acceleration sensing structure, and therefore the detailed structure thereof is not described herein again. In this embodiment, the acquisition conditioning circuit includes a capacitor/voltage conversion circuit and an analog-to-digital conversion circuit connected in series. The special integrated circuit is used for capacitance/voltage (C/V) conversion, and the signal conversion circuit is used for conditioning and converting signals into digital signals.
In the embodiment, the micro-vibration acquisition module is internally integrated with the temperature sensor, the temperature acquisition precision is better than 0.1 ℃, the temperature measurement can be conveniently carried out, the local temperature drift compensation is realized, and the temperature drift compensation is output through digital communication interfaces such as RS-422/SPI.
In the embodiment, the micro-vibration acquisition module replaces an old analog acceleration sensor, so that extra noise caused by remote transmission of weak signals in an old acquisition scheme can be effectively eliminated, the acquisition precision is greatly improved, and in addition, the transmission distance and the reliability can be greatly improved by a digital communication interface. The precision of the micro-vibration acquisition module can reach 10-6g, satisfying the micro-vibration acquisition requirement 10-5g, precision requirement. In addition, in order to meet the requirement of radiation resistance in aerospace application, the micro-vibration acquisition module can be packaged by a metal reinforced shell of titanium or stainless steel and the like, and a working power supply is supplied with power by 3.3-5.0V so as to be matched with the power supply of a digital system of a satellite as much as possible. In addition, the micro-vibration acquisition module in this embodiment is designed by an optimization module, the steady-state working current is less than 0.05A, the highest communication rate with the outside can reach 1Mbps, and the micro-vibration acquisition module shell is connected with the structural ground of the satellite through a copper foil so as to improve the anti-interference performance.
The micro-vibration acquisition module can adopt digital communication interfaces such as RS-422/SPI and the like as required.
Fig. 2 is a schematic diagram showing cable connection of the micro-vibration acquisition module using the RS-422 interface, where the cable between the micro-vibration acquisition module and the RS-422 interface is a shielded cable (shielding a structure ground of a skin-connected satellite), and the shielded cable includes two 5V power supply lines and four RS-422 signal lines (R +, R-, S +, S-). The +5V pin and the GND pin are connected with a power supply interface of the spaceborne computer, and the R +/R-pin and the S +/S-pin are connected with an RS-422 interface of the spaceborne computer. And R +/R-is used for receiving the sensor data actively sent by the acquisition module by the satellite-borne computer, and S +/S-is used for sending a configuration instruction to the acquisition module.
Fig. 3 is a schematic diagram showing a cable connection of the micro-vibration acquisition module using the SPI interface, where the cable between the micro-vibration acquisition module and the RS-422 interface is a shielded cable (shielding a structural ground of a pico-joint satellite), and the shielded cable includes two 5V power supply lines and four SPI signal lines (MOSI, MISO, SCLK, SS/CS). The +5V pin and the GND pin are connected with a power supply interface of the spaceborne computer, and the other pins are connected with an SPI interface of the spaceborne computer. The on-board computer is used as a main device, the acquisition module is used as a slave device, the MOSI/MISO realizes bidirectional data communication, the SCLK is a data clock signal, and the SS/CS is a selection enabling signal corresponding to the acceleration sensor.
When the micro-vibration acquisition module is installed, the installation surface of the micro-vibration acquisition module can be directly contacted with the satellite structure for installation. In order to ensure the grounding characteristic, besides the metal shielding skin of the shielding cable of the micro-vibration acquisition module is grounded, a conductive copper foil is bonded on the metal shell of the micro-vibration acquisition module and is grounded with the star structure. The micro-vibration acquisition module is configured to be in a working mode after power-on by default, and automatically sends sensor data outwards. Default communication baud rate: 115200bps (configurable), 1-bit stop bit, no parity bit, and 8 data bits; default data frame refresh rate: 2000Hz (configurable), default data frame format is defined as table 1.
Table 1: and the acceleration acquisition RS-422 interface communication data frame definition.
All data fields in table 1 can be custom tailored as desired. For example, in the high-speed micro-vibration data acquisition process, the frame head, the temperature value and the frame tail data can be cut off, and the acceleration value can be represented by two or three bytes according to the precision requirement. If the acquisition module is used only as a temperature sensing device, the entire data frame may be clipped to only the remaining temperature values.
It should be noted that the micro-vibration acquisition module may be a single-axis distributed digital micro-vibration acquisition module, or may be a 3-axis micro-vibration acquisition module. The multi-axis micro-vibration acquisition module can also be formed by combining the single-axis micro-vibration acquisition modules.
As shown in fig. 1, a Power Control and Distribution Unit (PCDU) 2 of the present embodiment includes a DC/DC conversion circuit, a Power Distribution switch, a remote measurement and Control module, and a bus interface, wherein an input end of the DC/DC conversion circuit is connected to a primary satellite Power source, an output end of the DC/DC conversion circuit is connected to a Power supply end of the bus interface, and an output end of the DC/DC conversion circuit is connected to a Power supply end of the bus interfaceThe micro-vibration acquisition module is connected with the power end of the micro-vibration acquisition module through a power distribution switch, and the control end of the power distribution switch is connected with the satellite borne computer 3 through a bus interface. The power control distribution single machine 2 is used for realizing the 3.3-5.0V power supply and distribution functions required by the distributed digital micro-vibration acquisition module 1. The power control distribution single machine 2 receives a collection module power distribution instruction sent by the satellite-borne computer 3 through a CAN bus interface, and controls a power distribution switch through a remote measuring and controlling module (TMTC), so that power-on/power-off operation of different collection modules is finally realized. The N distributed digital micro-vibration acquisition module sets are recorded as S ═ Sj| j ∈ 1, …, N }, and can be divided into P groups, and each group of collection modules is set to be marked as LiContains | LiI acquisition modules, i ∈ {1,2, …, P }, and there is | L1|+|L2|+…+|LPN. Different acquisition module combinations are powered on/off by utilizing the power distribution function of the PCDU, so that different combination configurations C of the acquisition system can be realizedTE.g. L1}、{L2}、…、{LP}、{L1，L2}、…、{L1，L2，…，LNEtc., each different configuration can meet the acquisition control requirements of different tasks T, | CT| represents task T corresponding configuration CTThe number of sensing modules that are powered up. The simplest case is that N acquisition modules share 1 power distribution channel, i.e. P is 1, | CTWith one configuration, i.e. CT(ii) S; the most complicated case is that N acquisition modules adopt N distribution channels, i.e. P is equal to N, and | C is equal to or less than 1TIf | is less than or equal to N, the total is
The possible configuration scheme is adopted, but in practical use, by introducing constraint conditions, the available configuration scheme is greatly reduced.
In this embodiment, the DC/DC conversion circuit adopts MOR286R3S produced by InterPoint corporation, the maximum output power can reach 120W, the single-circuit power distribution function is greater than 5A, for example, 10 acceleration acquisition channels are added, and the 5V power consumption is increased by less than 2.5W, which can completely meet the power supply requirement.
As shown in fig. 1, the bus interface of this embodiment is a CAN bus interface, and the on-board computer 3 is connected to the control end of the power control and distribution unit 2 and the data transmission subsystem 4 through the CAN bus respectively. In this embodiment, the bus rate of the CAN bus is 500kbps, and the CAN bus generally only interacts with device control and device status data, so that a large amount of idle bandwidth resources exist, and the elucidation of sensing data CAN be effectively satisfied.
The spaceborne computer 3 can realize the drive control of the distributed digital micro-vibration acquisition module. The multiplexing spaceborne computer 3 realizes the data read-write interface, the data intelligent processing, the variable mode control and the data storage functions required by the work of the N distributed digital micro-vibration acquisition modules. As shown in fig. 1, the spaceborne computer 3 of the present embodiment includes a processor, a FLASH memory, an SDRAM memory, a satellite FPGA, a voltage interface circuit, an RS-422 interface circuit, a bus interface circuit and a sensor interface, the sensor interface is an RS-422/SPI duplex bus interface, the processor is respectively connected to the FLASH memory, the SDRAM memory and the satellite FPGA, the satellite FPGA is respectively connected to the RS-422 interface circuit, the bus interface circuit and the sensor interface through the voltage interface circuit, the bus interface circuit is respectively connected to the control terminal of the power control distribution unit 2 and the data transmission subsystem 4, and the RS-422 interface circuit is connected between the voltage interface circuit and the sensor interface. In this embodiment, the on-board computer 3 of the microsatellite uses a design architecture of an FPGA plus a general processor, wherein the external communication and I/O port control functions are generally realized by a satellite FPGA, and the complex digital processing and control decision function is realized by running satellite software by the general processor. The Flash memory circuit realizes long-term storage of the micro-vibration data through a large-capacity nonvolatile memory chip so as to deal with the situation that the micro-vibration data are not transmitted under a direct data transmission channel. The SDRAM memory is mainly used for temporarily caching micro-vibration data when a large amount of micro-vibration data is not ready to be written into a Flash chip. The FPGA of the spaceborne computer 3 can realize the parallel receiving and sending control of the multi-channel RS-422/SPI interface through programming, and the general processor can realize the high-speed data exchange with the FPGA through reading and writing the register port of the FPGA. Therefore, the acceleration sensor is driven to carry out data communication by preferentially utilizing the redundant RS-422/SPI interface of the spaceborne computer 3. If the RS-422/SPI interface resources are insufficient, the micro-vibration acquisition data interface resources can be expanded by modifying the FPGA transceiving control program and adding the RS-422/SPI interface circuit. The voltage interface circuit mainly realizes voltage matching between the FPGA chip and a peripheral circuit. The CAN interface circuit is used for realizing the connection and communication between the spaceborne computer 3 and an external two-way CAN bus. In this embodiment, the on-board computer 3 adopts a dual-processor architecture of a general-purpose processor and an FPGA. The processor adopts BM3803 for running house keeping software, the house keeping FPGA adopts SMART FUSION M2S050T-1FG484 for realizing peripheral interface circuit control, and the dual-processor architecture can realize advantage complementation, simplify design and improve real-time performance. The FPGA can realize a multi-path bidirectional RS-422 transceiving control interface through programming and can directly drive a distributed digital micro-vibration acquisition module of the RS-422 interface. The specific RS-422 transceiver adopts AM26C31 and AM26C32 chips, and AM26C31 is an RS422 transmitting chip; AM26C32 is RS422 and receives the chip, and RS422 is differential form, and interface circuit interference killing feature is strong. The transceiver and the FPGA transceiving control interface are connected through a level conversion interface chip SN74ALVC16T245, and conversion and matching of a 3.3V to 5V interface are achieved. The FPGA can also be directly connected with a distributed digital micro-vibration acquisition module of the SPI interface through a programming configuration SPI interface and a level conversion interface chip SN74ALVC16T 245. In the design, an idle RS-422/SPI interface is preferentially used, and under the condition of insufficient interface resources, the SPI interface is preferentially expanded, and then the RS-422 interface is considered to be used. When SPI/RS-422 mixed use, the short acceleration sensor of test cable uses the SPI interface (SPI driving force is weak), and the long acceleration sensor of test cable uses the RS-422 interface.
After receiving the acceleration data, the FPGA stores the acceleration data into a receiving cache, triggers a serial port of the BM3803 processor to receive an interrupt signal, calls a serial port receiving terminal service program of the BM3803 processor, reads and writes a serial port data register of the FPGA, and finally reads in the sensing data of each data interface. After the analysis, the packing, the framing and the like of the star software, the data CAN be directly submitted to a data transmission subsystem through a CAN bus to be downloaded, or CAN be temporarily stored in an SDRAM chip IS42S32400F-7TLI of 16MByte, and after the data IS stored in a certain number, the data IS written into a large-capacity Flash chip K9WAG08U1A (4 pieces multiplied by 2GByte) in batches. And then, sending a remote control instruction through the ground, and submitting the micro-vibration data stored in the Flash to a single routing processing machine for temporary storage when the CAN bus is idle until the sending is finished. Then, the instructions are sent through the ground, the micro-vibration data in the route processing single machine are downloaded at a high speed through the data transmission subsystem, and the micro-vibration data are received by the ground and then are processed and analyzed.
As shown in fig. 1, the data transmission subsystem 4 of this embodiment includes a single routing processing unit, a single data transmission machine, a microwave switch, and a single data transmission satellite-ground antenna, which are connected in sequence, and the single routing processing unit is connected to the satellite-borne computer 3 through a CAN bus. In this embodiment, the transmission channel of the micro-vibration signal multiplexes the existing bus communication channel of the satellite and the data transmission subsystem, and the micro-vibration data is downloaded to the ground data transmission and reception device. A satellite main bus channel adopts a double-path redundant CAN bus, related parameters are mainly transmitted and controlled, all communication is initiated by a main node satellite-borne computer 3, and other equipment nodes are used as slave nodes to respond. The data transmission subsystem comprises a single route processing machine, a data transmission integrated machine, a microwave switch and a data transmission satellite-ground antenna, wherein the single route processing machine is responsible for receiving, processing, storing and forwarding data, and the data transmission integrated machine, the microwave switch and the data transmission satellite-ground antenna form a micro-vibration data satellite-ground high-speed downloading channel. Because the micro-vibration data downloading task is not a high-priority task of a satellite and has a limited real-time requirement, the method does not add a high-speed data bus (such as LVDS, TLK2711 and the like) between the on-board computer 3 and the data transmission subsystem, but directly multiplexes a double-path CAN bus channel between the on-board computer 3 and the data transmission subsystem as an internal transmission channel of the micro-vibration data. The spaceborne computer 3 submits the micro-vibration data to the route processing single machine by utilizing the free gap of the CAN bus and controls the route processing single machine to select direct downloading or batch downloading after temporarily storing the Flash.
As shown in fig. 4, this embodiment further provides an application method of the foregoing distributed microsatellite micro-vibration signal acquisition system, including:
s1) collecting the start of a task T; when the acquisition task T starts, specific parameters of the acquisition task T can be analyzed and determined, wherein the specific parameters comprise the transmission direction of a vibration signal to be acquired, the position of a vibration source, the acquisition duration and the like.
S2) according to the collection task T, inquiring a preset mapping table B to determine the configuration C of the distributed digital micro-vibration collection array 1T＝{LiThe mapping table B comprises any acquisition task TkConfiguration C for prefetching a corresponding distributed digital micro-vibration acquisition array 1TkMapping relationship between, configuration CTkMicro-vibration acquisition module L required to be used for acquiring task TiA set of (a);
s3) according to the configuration CTGenerating a micro-vibration acquisition module L for controlling each required useiThe power distribution instruction is sent to the power control distribution single machine 2 through the bus, and each micro-vibration acquisition module L required to be used is sent to the power control distribution single machine 2 through the power control distribution single machine 2iThe power distribution channel of (2) is powered up; micro-vibration acquisition module L required to be usediAutomatically initializing after power-on, and automatically starting acquisition and data transmission operations according to configuration parameters stored after last power-on;
s4), judging whether the task queue Q is empty, if the task queue Q is empty, skipping to execute the step S7), otherwise skipping to execute the step S5);
s5) fetching the head task Q in the task queue Q1(ii) a In the embodiment, the task queue Q is scheduled in an FIFO mode, so that the head task Q is taken out according to the FIFO principle1Thereafter, subsequent tasks in the task queue Q are advanced, e.g. the original task Q2Become a new header task q1Other tasks also need to move forward;
s6) for header task q1The corresponding micro-vibration acquisition module carries out parameter configuration, and the step S4 is executed; the step of configuring the parameters comprises: find header task q1Corresponding micro-vibration acquisition module LiAnd the parameter updating requirement is converted into a control command, and the parameter updating requirement is sent to a corresponding acquisition module by the spaceborne computer 3 through a digital communication interface (such as a duplex RSS422/SPI bus) to update the parameter. Meanwhile, the control parameters of the corresponding communication interface in the star FPGA are matched and updated to adapt to the new situationThe frame format of the sensing data, the micro-vibration acquisition rate or the communication rate, etc.
S7) clearing the sensing data receiving buffer and starting new sensing data receiving operation; namely: and the processor sends a command to control the satellite FPGA to clear the existing sensing data in all the digital communication interfaces receiving cache and synchronously start new sensing data receiving operation.
S8) reading the sensing data receiving buffer; namely: the processor reads the received sensor data from the receive cache of the star FPGA at high speed.
S9) carrying out automatic analysis and parameter calculation on the acquired sensing data, if a local parameter updating instruction is generated by carrying out automatic analysis and parameter calculation, generating a corresponding parameter updating demand task and adding the task into an updating task queue Q, and if a sensing parameter updating remote control instruction is received, generating a corresponding parameter updating demand task and adding the task into the updating task queue Q; meanwhile, detecting the data type of the acquired sensing data, and if the data type is temperature data, skipping to execute the step S10); if the data is micro-vibration data, jumping to execute step S11); the automatic analysis and parameter calculation are performed according to a preset data processing program, so that a required algorithm can be set as required, for example, as an optional implementation, statistical analysis can be performed on the amplitude of the sensed data, the amplitude parameter of the acquisition module can be automatically adjusted, and whether the corresponding acquisition module L needs to be updated or not is determined according to the results of the automatic data analysis and parameter calculationiConfiguration parameter e ofsj. And if so, generating a local parameter updating instruction. If the analysis detects that the collected data has abnormal conditions such as excessive saturation or no change for a long time, the corresponding diagnosis telemetering parameters can be written, and the fault alarm is carried out.
S10) submitting the separated temperature data to a thermal control subsystem by satellite software to serve as a reference value for temperature judgment and heating control; writing the separated temperature data into a telemetering parameter list through satellite software operated by a processor, finally downloading to the ground through a satellite-ground telemetering channel in the data transmission subsystem 4, and skipping to execute the step S12);
s11) judging whether the preset data transmission mode is a direct transmission mode, if not, firstly storing data by the microprocessor, then sending the micro-vibration data to the bus through the star FPGA, and then transmitting the micro-vibration data to the ground through a satellite-ground remote measuring channel in the data transmission subsystem 4; if the direct transmission mode is adopted, the micro-vibration data are directly sent to a bus through the satellite FPGA and then are transmitted to the ground through a satellite-ground remote measuring channel in the data transmission subsystem 4;
the mode is not a direct transmission mode, which is called a transfer-storage downloading mode for short, in the mode, the processor reads sensor data from the FPGA, stores the sensor data into a local Flash storage circuit, submits the sensor data to the single routing processing unit when a CAN bus is idle, and selects the single routing processing unit for downloading after the sensor data is further stored into a large-capacity Flash storage circuit in the single routing processing unit. The unloading and downloading mode is suitable for the acquisition task with large micro-vibration data volume and without real-time downloading link conditions.
When the micro-vibration data transmission channel is used for transmitting data, the routing processing single machine receives the sensor data submitted by the satellite-borne computer 3, transmits the data to the data transmission integrated machine, and transmits the data to the ground through the microwave switch and the data transmission satellite-ground antenna. In the direct transmission mode, the routing processing single machine submits data transmission equipment to the ground in real time, the data transmission equipment is limited by the transmission rate of a CAN bus, and the transmission rate in the mode is low; in the unloading and downloading mode, the temporarily stored micro-vibration data is read from Flash inside the route processing single machine, and submitted to the data transmission equipment for downloading to the ground, and the downloading rate is fast.
S12) judging whether the preset acquisition task duration is reached or the local Flash storage resource of the satellite-borne computer is exceeded, if one of the conditions is met, judging that the acquisition task T is finished, and according to the configuration CTGenerating a micro-vibration acquisition module L for controlling each required useiThe power distribution instruction is sent to the power control distribution single machine 2 through the bus, and each micro-vibration acquisition module L required to be used is sent to the power control distribution single machine 2 through the power control distribution single machine 2iThe power distribution channel is powered off; micro-vibration acquisition module LiThe configuration parameters are written into a local Flash storage circuit to be used for power-on configuration after the satellite borne computer is restarted. After the collection task is finishedAnd ensuring that the sensing data in the receiving cache of the star FPGA is read to finish the corresponding storage/transmission operation.
Referring to FIG. 4, the method entails building task T to configuration C in advanceTThe mapping table B and the task queue Q with parameter updating requirements, namely, all feasible tasks T are constructed in advance according to prior knowledgekTo micro-vibration collection module array configuration CTkIs given as (T)k,CTk) If the acquisition task is to obtain the influence of the micro-vibration of the flywheel X on the imaging quality of the camera, when designing the micro-vibration acquisition module array configuration scheme, only the micro-vibration acquisition module on the main path for transmitting the vibration from the flywheel X to the camera base needs to be selected, and other relevant micro-vibration acquisition modules such as the flywheel Y and the flywheel Z do not need to be selected. The parameter updating demand task queue Q is created by a sensing parameter updating remote control instruction injected on the ground, the task queue Q is processed by adopting an FIFO method, and the task Q at the head of the queue is taken out and processed each time1. In addition, the sensing parameters of the micro-vibration acquisition module can be updated in advance or in the process through the sensing parameter updating remote control instruction, the parameter configuration remote control instruction of the acquisition module is sent on the ground, and the working mode and the working parameters of any acquisition module can be configured. Alternative modes of operation include 3 classes: mode one M1-only collects micro-vibration data, mode two M2-collects micro-vibration data + temperature data, mode three M3-only collects temperature data; the specific operational parameters that may be configured include acquisition amplitude, acquisition rate, communication rate, and the like. The instruction may be launched to generate a new task and added at the end of the queue.
In summary, in this embodiment, under the condition that an acquisition control unit is not added, the on-board computer and the PCDU are multiplexed, and the distributed digital micro-vibration acquisition module is used to construct the micro-vibration acquisition system, so as to realize local acquisition and processing of acceleration data; the existing CAN bus channel between the satellite-borne computer and the data transmission subsystem is multiplexed, so that micro-vibration data transmission and downloading are realized, and an additional micro-vibration data transmission channel is not required to be added. The micro-vibration acquisition module is used as high-precision temperature acquisition equipment and temperature acquisition equipment of a thermal control system, and the application method of the reconfigurable micro-vibration acquisition system is realized on the basis.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (1)
1. An application method of a distributed micro-satellite micro-vibration signal acquisition system is characterized in that, the distributed micro-satellite micro-vibration signal acquisition system comprises a distributed digital micro-vibration acquisition array (1), a power control distribution single machine (2), an on-board computer (3) and a data transmission subsystem (4), the distributed digital micro-vibration acquisition array (1) comprises a plurality of micro-vibration acquisition modules which are respectively arranged on different vibration transmission paths of a satellite, the power supply end of the micro-vibration acquisition module is connected with the output end of the power control distribution single machine (2), the output end of the micro-vibration acquisition module is connected with the satellite-borne computer (3), the input end of the power control distribution single machine (2) is connected with a primary satellite power supply, and the satellite-borne computer (3) is respectively connected with the control end of the power control distribution single machine (2) and the data transmission subsystem (4) through buses; the satellite-borne computer (3) comprises a processor, a FLASH memory, an SDRAM memory, a satellite-borne FPGA, a voltage interface circuit, an RS-422 interface circuit, a bus interface circuit and a sensor interface, wherein the sensor interface is an RS-422/SPI duplex bus interface, the processor is respectively connected with the FLASH memory, the SDRAM memory and the satellite-borne FPGA, the satellite-borne FPGA is respectively connected with the RS-422 interface circuit, the bus interface circuit and the sensor interface through the voltage interface circuit, the bus interface circuit is respectively connected with a control end of a power control distribution single machine (2) and a data transmission subsystem (4), and the RS-422 interface circuit is connected between the voltage interface circuit and the sensor interface; the data transmission subsystem (4) comprises a route processing single machine, a data transmission integrated machine, a microwave switch and a data transmission satellite-ground antenna which are sequentially connected, and the route processing single machine is connected with the satellite-borne computer (3) through a CAN bus; the micro-vibration acquisition module is internally integrated with a temperature sensor, and the application method comprises the following steps:
s1) starting a collection task T;
s2) according to the collection task T, inquiring a preset mapping table B to determine the configuration C of the distributed digital micro-vibration collection array (1)T={L i The mapping table B comprises any acquisition task TkConfiguration C for prefetching a corresponding distributed digital micro-vibration acquisition array (1)TkThe configuration CTkMicro-vibration acquisition module used for acquiring task TL i A set of (a);
s3) according to the configuration CTGenerating a micro-vibration acquisition module for controlling each of the desired usesL i The power distribution instruction is sent to the power control distribution single machine (2) through the bus, and each micro-vibration acquisition module required to be used is sent to the power control distribution single machine (2) through the power control distribution single machine (2)L i The power distribution channel is powered up; micro-vibration acquisition module required to be usedL i Automatically initializing after power-on, and automatically starting acquisition and data transmission operation according to configuration parameters stored in last power-on;
s4), judging whether the task queue Q is empty, if the task queue Q is empty, skipping to execute the step S7), otherwise skipping to execute the step S5);
s5) fetching the head task in the task queue Qq 1 ；
S6) for header tasksq 1 The corresponding micro-vibration acquisition module performs parameter configuration, and the step S4 is executed;
s7) clearing the sensing data receiving buffer and starting new sensing data receiving operation;
s8) reading the sensing data receiving buffer;
s9) carrying out automatic analysis and parameter calculation on the acquired sensing data, if a local parameter updating instruction is generated by carrying out automatic analysis and parameter calculation, generating a corresponding parameter updating demand task and adding the task into an updating task queue Q, and if a sensing parameter updating remote control instruction is received, generating a corresponding parameter updating demand task and adding the task into the updating task queue Q; meanwhile, detecting the data type of the acquired sensing data, and if the data type is temperature data, skipping to execute the step S10); if the data is micro-vibration data, skipping to execute the step S11);
s10) submitting the separated temperature data to a thermal control subsystem by satellite software to serve as a reference value for temperature judgment and heating control; writing the separated temperature data into a telemetering parameter list through satellite software operated by a processor, finally downloading to the ground through a satellite-ground telemetering channel in the data transmission subsystem (4), and jumping to execute a step S12);
s11) judging whether the preset data transmission mode is a direct transmission mode, if not, firstly storing data by the microprocessor, then sending the micro-vibration data to the bus through the star FPGA, and then transmitting the micro-vibration data to the ground through a satellite-ground remote measuring channel in the data transmission subsystem (4); if the direct transmission mode is adopted, the micro-vibration data are directly sent to a bus through the satellite FPGA and then are transmitted to the ground through a satellite-ground remote measuring channel in the data transmission subsystem (4);
s12) judging whether the preset acquisition task duration is reached or the local Flash storage resource of the satellite-borne computer is exceeded, if one of the conditions is met, judging that the acquisition task T is finished, and according to the configuration CTGenerating a micro-vibration acquisition module for controlling each of the desired usesL i The power distribution instruction is sent to the power control distribution single machine (2) through the bus, and each micro-vibration acquisition module required to be used is sent to the power control distribution single machine (2) through the power control distribution single machine (2)L i The power distribution channel is powered off; micro-vibration acquisition moduleL i The configuration parameters are written into a local Flash storage circuit to be used for power-on configuration after the satellite borne computer is restarted.
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