CN104267714B - Orbit satellite attitude control system test and system detection method - Google Patents

Abstract

The invention provides a satellite attitude orbit control testing system and a system testing method. The satellite attitude orbit control testing system of the present invention comprises: simulator head, is used for outputting analog signal in test, simulates the operating environment of the satellite to be tested; Simulator intelligent controller, connects simulator head, controls simulator head run and collect the working status of the simulator head; the remote client of the simulator connects to the smart controller of the simulator, remotely controls the operation of the smart controller of the simulator and displays the working status of the simulator head; the remote client of the simulator communicates with the smart controller of the simulator The intelligent controller of the simulator is connected through a bus. The invention can realize the remote control function of the simulator. Remote control and status display are carried out through the remote client of the simulator, which realizes unattended test site and improves work efficiency.

Description

Satellite attitude orbit control test system and system test method

technical field

The invention relates to the field of aerospace testing equipment, in particular to a satellite attitude orbit control testing system and a system testing method.

Background technique

The satellite attitude and orbit control (attitude orbit control) test system is used for the ground test of the satellite attitude and orbit control subsystem. Some simulators (such as solar simulators) in the traditional satellite attitude and orbit control test system are not connected to the test network, requiring staff to manually operate the simulator at the test site, and remote automatic control cannot be implemented.

Moreover, if some simulators fail to work, it may cause harm to the products on the star. For example, if the heating module of the earth simulator fails and the heating module continues to heat, if measures are not taken in time, it will cause damage to the infrared earth sensor on the star; If the rotation does not stop after reaching the specified angle, if no countermeasures are taken in time, the head of the solar simulator will hit the sun sensor on the satellite and damage the equipment on the satellite.

Therefore, it is very important to monitor whether the simulator is working properly, and to take timely measures when problems occur. Existing methods rely on manual inspection to find faults, which are prone to operational errors and negligence. In order to improve the reliability and safety of testing, there is an urgent need for a system that can automatically identify simulator faults and take corresponding measures.

On the other hand, the component test is an important part of the satellite control subsystem test, which mainly verifies whether the performance of each component of the control subsystem meets the index requirements. There is no information interaction between the existing data statistics processing software and the simulator, and it is impossible to automatically count the test data after the simulator output is set. Existing testing methods, where one person sets up the simulator output as required, and another person is dedicated to statistically processing the component's telemetry data, take a lot of manpower and time.

To sum up, the existing satellite attitude and orbit control test system relies on manual methods, which can no longer meet the requirements of remote automatic control of simulators, autonomous fault identification and processing of simulators, and automatic statistical processing of component test data.

Contents of the invention

The present invention solves the following technical problems:

(1) To realize the remote control of the simulator, it is no longer necessary to manually operate the simulator on the satellite attitude and orbit control test system at the test site.

(2) Provide a system that can detect simulator faults and take measures by itself, replacing the current method of manually identifying and handling faults.

(3) Automatic statistical processing of component test data to avoid low work efficiency caused by statistical work taking up a lot of manpower.

The technical solution of the present invention is: a satellite attitude orbit control test system, comprising: a simulator head, used to output analog signals during the test, simulating the operating environment of the satellite to be tested; a simulator intelligent controller, connected to the simulator head Department, controls the operation of the simulator head and collects the working status of the simulator head; the simulator remote client, connects to the simulator intelligent controller, remotely controls the operation of the simulator intelligent controller and displays the working status of the simulator head ; The remote client of the simulator is connected to the intelligent controller of the simulator through the bus.

The intelligent controller of the simulator includes a zero-slot controller, which is connected to the bus; the zero-slot controller stores an expert knowledge base, which is used to compare with the working status information of the simulator head to judge the fault.

The simulator intelligent controller includes a simulator working state collection module, which collects the working state information of the simulator head and connects with the zero-slot controller.

The simulator intelligent controller includes a simulator driving power amplifier module, which controls the driving of the simulator head, is connected with the zero slot controller and is controlled by the zero slot controller.

It also includes: a data statistics computer, which is connected to the bus, accepts the setting information broadcast by the intelligent controller of the simulator and the telemetry data of the sensor of the satellite to be tested, and automatically performs statistical analysis of the test data.

It also includes: a dynamics simulation computer connected to a bus for controlling the intelligent controller of the simulator; and the dynamics simulation computer connected to the satellite to be tested.

It also includes a database server connected to the bus to read and store one or more items of the output information of the dynamic simulation computer, the working state of the simulator head, the telemetry information of the sensor and the failure detection and interpretation information of the simulator.

Another aspect of the present invention provides a method for testing a satellite attitude orbit control system, including step S1, the simulator head outputs an analog signal during the test; step S2, the simulator intelligent controller connects the simulator head to control Run the simulator head and collect the working status of the simulator head; step S3, connect the simulator smart controller with the simulator remote client, remotely control the operation of the simulator smart controller and display the working status of the simulator head .

Also includes: step S4, collecting the working status information of the simulator head by the simulator working status acquisition module, and sending it to the zero-slot controller in the simulator intelligent controller; the expert knowledge base stored in the zero-slot controller Compare the working status information on the head of the simulator to determine whether there is a fault.

It also includes: step S5, the data statistics computer is connected to the bus, receives the setting information broadcast by the intelligent controller of the simulator and the telemetry data of the sensor of the satellite to be tested, and automatically performs statistical analysis of the test data.

The advantage of the present invention compared with prior art is:

(1) The present invention realizes the networking of the simulator test. Connect the zero-slot controller of the simulator intelligent controller to the LAN test network through the bus.

(2) The present invention can realize the remote control function of the simulator. Remote control and status display are carried out through the remote client of the simulator, which realizes unattended test site and improves work efficiency.

(3) The present invention realizes the fault detection and fault processing functions of the simulator. The intelligent controller of the simulator receives the working status information and sensor telemetry information, and calls the expert knowledge base to judge whether the current working status of the simulator is normal. If the simulator fails, an alarm will be issued and troubleshooting measures will be taken, which effectively guarantees the safety of the on-board and ground equipment, and improves the safety and reliability of the test.

(4) The system proposed by the present invention has automatic data statistics function. When the data statistics computer is testing the components of the satellite control system, it receives the angle setting information broadcast by the intelligent controller of the simulator through the LAN bus of the local area network, and automatically performs statistical analysis of the sensor telemetry data. No manual operation is required in the statistical process of data, thus saving a lot of manpower time.

(5) The system proposed by the present invention is adapted to the needs of different testing tasks. Satellite attitude and orbit control system testing is mainly divided into component testing and closed-loop testing. During component testing, the simulator intelligent controller is set through the remote client of the simulator; during the closed-loop test, the dynamics simulation computer controls the simulator intelligent controller in real time through LAN bus communication.

Description of drawings

Fig. 1 is a structure diagram of a satellite attitude orbit control test system of the present invention.

Fig. 2 is a structural diagram of the simulator intelligent controller module in the system of the present invention.

Fig. 3 is a working flow chart of a satellite attitude orbit control testing system of the present invention.

detailed description

A networked satellite attitude and orbit control test system with simulator remote control function of the present invention comprises: simulator intelligent controller, simulator remote client, simulator head, database server, dynamics simulation computer, boxes, interface boxes, telemetry display computers. Among them, the intelligent controller of the simulator is connected to the remote client of the simulator through the LAN bus, and the database server, the dynamic simulation computer, and the telemetry display computer are also connected to the LAN bus. The external master control computer is connected with the telemetry display computer. The expansion box and the interface box are connected with the dynamic simulation computer.

The simulator intelligent controller includes a zero-slot controller, a simulator working state acquisition module, a simulator driving signal module, and a simulator driving power amplifier module, etc. The communication between the internal modules of the simulator intelligent controller is realized by PXI bus. The communication between the simulator intelligent controller and the external test system is realized through the LAN interface of the zero-slot controller.

The simulator smart controller works in two ways. It works by receiving the control instructions from the dynamic simulation computer during the closed-loop test; it works by receiving the control instructions from the remote client during the component test.

The simulator intelligent controller also has the function of simulator fault detection and processing. The simulator working state acquisition module collects the working state information of the simulator, and communicates with the zero-slot controller through the internal PXI bus.

The telemetry display computer forwards telemetry information from the master control computer's sensors to the test network. The zero slot controller receives telemetry and display computer broadcast information through the LAN port.

The zero-slot controller of this embodiment adopts NI PXI-8133 embedded controller as the control module of the internal PXI bus of the simulator intelligent controller. In addition, other types of control modules can also be used as zero-slot controllers, which need to meet the needs of communication with the bus and the functions of controlling the head of the simulator.

The zero-slot controller is equipped with expert knowledge base software. By comparing the working status of the simulator head and the telemetry information of the sensor obtained by the simulator working status acquisition module with the interpretation rules of the expert knowledge base, the simulator’s Fault detection alarm and fault emergency processing functions. When the zero-slot controller determines that the simulator is faulty, it will cut off the power supply of the simulator-driven power amplifier module through the relay to protect the safety of the simulator and on-board products.

The simulator head is controlled by the simulator controller, including the solar simulator head, the earth simulator head, and the star simulator head. The sun simulator head emits simulated sunlight, the earth simulator head simulates the earth disk and sky background, and the star simulator head emits simulated star light.

An embodiment is described in detail below in conjunction with accompanying drawing:

As shown in Figure 1, a satellite attitude and orbit control test system with simulator remote control function mainly includes simulator intelligent controller, simulator remote client, simulator head, database server, dynamics simulation computer, box, interface box, telemetry display computer, etc.

Simulator intelligent controllers are divided into solar simulator intelligent controllers, earth simulator intelligent controllers, and star simulator intelligent controllers.

The remote client of the simulator is divided into the remote client of the sun simulator, the remote client of the earth simulator, and the remote client of the star simulator.

The simulator remote client implements the remote display and remote control functions of the simulator. The remote client uses LAN to communicate with the zero-slot controller of the intelligent controller of the simulator to realize the remote display of the simulator's working status and fault alarm information. Download the control target angle test sequence of the simulator to the zero-slot controller of the simulator intelligent controller during component testing.

The information displayed by the remote client of the simulator includes the working status information of the simulator and the fault status information of the simulator. The working status information of the simulator includes the temperature of the sky and the ground of the earth simulator, the attitude angle of the roll or pitch axis, the chord width, and the front base; The sensor information includes the number of stars, magnitude information, sky area information, etc. The simulator remote client also displays telemetry information from satellite attitude sensors.

The simulator head is controlled by the simulator smart controller. The simulator head includes a solar simulator head, an earth simulator head, and a star simulator head. The sun simulator head emits simulated sunlight, the earth simulator head simulates the earth disk and sky background, and the star simulator head emits simulated star light.

The database server reads the output information of the dynamic simulation computer, the working status of the simulator, the telemetry information of the sensor, and the fault detection and interpretation information of the simulator, and completes the storage for query.

The data statistics computer can automatically perform the sensor performance test data statistics function according to the simulator angle setting information broadcast by the simulator intelligent controller in the LAN network during component testing. After the test, output and print the data statistics report. The data statistics computer is mainly responsible for the data statistics of the sensor telemetry information of the satellite attitude and orbit control subsystem, specifically: the mean value and variance of the chord width and front base of the infrared earth sensor; the mean value and variance of the angular velocity output by the gyro, and the calculation of the gyro constant drift , the random drift calculation of the gyroscope; the mean and variance of the angle output of the analog sun sensor; the angle output and variance of the digital sun sensor; the mean and variance of the star sensor output quaternion q0, q1, q2, q3, etc.

The telemetry display computer is responsible for the display of on-board fast frames, slow frames, attitude broadcast data, and the original code and decoded data of important data. The telemetry display computer forwards telemetry information from the master control computer to the test network.

As shown in Figure 2, the simulator intelligent controller includes a zero-slot controller, a simulator working state acquisition module, a simulator driving signal module, and a simulator driving power amplifier module.

The internal modules of the simulator intelligent controller of the present invention adopt PXI bus communication. The PXI zero-slot controller is connected to the test network through LAN. Receive a given angle command from a dynamics simulation computer during a closed-loop test. The zero-slot controller communicates with the remote client of the simulator, sends the working information and fault detection information of the simulator to the remote client, and receives the simulator output angle command given by the remote client during component testing.

The expert knowledge base is stored in the zero-slot controller, and the fault detection of the simulator is realized by comparing the working status of the simulator head, the telemetry information of the sensor (on-board device) and the interpretation rules of the expert knowledge base Call the police and carry out emergency treatment for failures. When the zero-slot controller determines that the simulator is faulty, it can cut off the power supply of the simulator-driven power amplifier module through the relay to protect the safety of the simulator and on-board products.

The interpretation and fault handling rules of the expert knowledge base can be set according to the actual situation of different satellites. Several typical interpretation rules, such as: the temperature difference between the sky and the ground of the earth simulator continues to increase, and when the temperature difference reaches the preset fault threshold, an alarm is issued and the power of the earth simulator is turned off; After the set fault threshold is reached, an alarm is sounded and the Earth Simulator power is turned off. The head of the small Taimo (little sun model) of the solar simulator continues to rotate, and when the difference between the rotation angle and the set angle exceeds the threshold, an alarm is issued and the power supply of the Taimo head is turned off. If the difference between the telemetry analog sun angle output and the angle setting value exceeds the threshold, or the difference between the telemetry digital sun angle output and the angle setting value exceeds the threshold value, an alarm will be issued and the power supply of the Taimo head will be turned off.

The simulator working status acquisition module communicates with the zero-slot controller through the PXI bus. It mainly collects the working status information of the simulator head. After isolation and amplification, the working information of the simulator is converted from analog to digital through A/D sampling. quantity. The main information collected about the working state of the simulator includes the temperature of the sky and ground of the earth simulator, the attitude angle of the roll or pitch axis, the chord width, and the front base. The information of the solar simulator includes the rotation angle of the small Taimo head, the on and off signs of the sun lamp, etc. The star simulator information includes the number of stars, magnitude information, sky area information, etc.

The simulator driving signal module communicates with the zero-slot controller through the PXI bus, and generates the control signal of the simulator head according to the instructions input by the zero-slot controller. The control signal of the head of the solar simulator includes the rotation angle of the simulator head, the signal of turning on and off the solar lamp, etc. The control signal of the head of the earth simulator includes the temperature control signal of the heating module, the position control signal of the simulated earth disk, the control signal of the simulated chord width, and the like. The control signals of the star simulator include star map information, star level information, etc.

The simulator power amplifier module is connected with the simulator driving signal module to realize the power amplification function of the control signal of the simulator head and is connected with the simulator head through a cable to control the simulator head.

Sensor telemetry information on satellites includes infrared radiation intensity, infrared motor current, infrared detector temperature, infrared sun sign, infrared angle estimate, simulated sun angle, simulated sun sees sun sign, digital sun angle, digital sun full open code , digital sun sees the sun sign, star sensitivity background average value, background threshold value, star sensitivity head temperature, number of extracted stars, number of recognized stars, etc. These information are collected by other subsystems and can be sent to the main control computer through the LAN bus for telemetry display The computer communicates with the main control computer and forwards the telemetry information to each device on the bus, such as data statistics computer for analysis, database server for storage, telemetry display computer for display, etc.

As shown in Figure 3, the workflow is to perform system initialization after the simulator is powered on. Self-check the status of the simulator device, check the internal bus communication and external LAN communication status. After the self-inspection is completed, judge the self-inspection status. After the self-test is successful, the next step is to adjust the output of the simulator to zero. After the zero adjustment is completed, judge whether it is zero. It is determined as the zero position. After the zero adjustment is successful, manually set the simulator information or select the loading test sequence during the component test, and set the simulator according to the angle given by the dynamic simulation computer during the closed-loop test. After the simulator finishes outputting the angle according to the test sequence or the closed-loop test is finished, the simulator stops outputting and the test ends.

Test sequences can optionally be loaded during component testing. The test sequence contains a series of output angles of the simulator, and each angle output corresponds to a certain time. For example, the output angle test sequence of the solar simulator is "-15°, -5°, -1.5°, 0°, 1.5°, 5°, 15°". The output time can be set for each angle, the typical setting is 1 minute.

During the closed-loop test, select the intelligent controller of the dynamic star simulator and the intelligent controller of the earth simulator to communicate with the dynamic simulation computer in real time, and set the simulator to give the corresponding angle according to the target angle given by the dynamic simulation computer in real time.

At the same time, the intelligent controller of the simulator broadcasts the output setting information of the simulator to the test network, and the data statistics computer selects the satellite sensor telemetry information of the corresponding time period according to the output information of the simulator, and performs data statistical processing. The data statistics computer obtains the telemetry information of the satellite sensors by communicating with the database server.

The dynamics simulation computer simulates the space environment and satellite dynamics control laws through software. The attitude signal is given through the interface, and the signal from the actuator is received for analysis and calculation. Calculate the force and moment acting on the satellite, perform dynamic transfer calculation, and calculate the angular velocity and attitude of the satellite, and then convert it into the input information of each sensor, and send it to the corresponding simulator through the LAN bus.

The specific technologies not described in the present invention, such as the internal structure and internal software processing method of each computer or module, belong to the prior art known to those skilled in the art.

Claims (10)

1. a kind of orbit satellite attitude control system test, it is characterised in that including：

Simulator head, for exporting analog signal in testing, simulates the running environment of satellite to be measured；

Simulator intelligent controller, connects the simulator head, controls the operation of the simulator head and gathers the mould Intend the working condition of device head；Simulator intelligent controller has two kinds of working methods：Dynamics simulation is received in closed loop test The control instruction of computer is operated；The control instruction that simulator remote client is received in unit test is operated；

Simulator remote client, connects the simulator intelligent controller, simulator intelligent controller described in remote control Run and show work state information, the fault status information of simulator of the simulator；

The simulator remote client is connected with the simulator intelligent controller by bus.

2. orbit satellite attitude control system test according to claim 1, it is characterised in that the simulator is intelligently controlled Include Zero greeve controller in device processed, the Zero greeve controller is connected to the bus；The zero slot controller memory store expert knows Know storehouse, compared with failure judgement for the work state information with the simulator head, Zero greeve controller judges in simulator During for failure, by relay to simulator driving amplifier module power cut-off, the safety of product on protection simulator and star.

3. orbit satellite attitude control system test according to claim 2, it is characterised in that the simulator is intelligently controlled Include simulator working condition acquisition module in device processed, the simulator working condition acquisition module gathers the simulator head Work state information, and be connected with the Zero greeve controller.

4. orbit satellite attitude control system test according to claim 3, it is characterised in that the simulator is intelligently controlled Include simulator driving amplifier module in device processed, the simulator driving amplifier module controls the driving of the simulator head, It is connected with the Zero greeve controller and is controlled by the Zero greeve controller.

5. orbit satellite attitude control system test according to claim 1, it is characterised in that also include：Data statistics Computer, the data statistics computer connects the bus, receives the configuration information of the simulator intelligent controller broadcast With the telemetry of the sensor of the satellite to be measured, the statistical analysis of test data is carried out automatically.

6. orbit satellite attitude control system test according to claim 1, it is characterised in that also include：Dynamics is imitated Genuine computer, the dynamics simulation computer connects the bus, for controlling the simulator intelligent controller；And it is described Dynamics simulation computer connects the satellite to be measured.

7. orbit satellite attitude control system test according to claim 6, also includes, database server is connected to The bus, reads and stores the output information of the dynamics simulation computer, working condition of the simulator head, quick One or more in the fault status information of sensor telemetry and simulator.

8. a kind of satellite attitude orbit of orbit satellite attitude control system test as claimed in claim 1 controls method of testing, It is characterized in that：Comprise the following steps：

Step S1, analog signal is exported by simulator head in testing；

Step S2, the simulator head is connected by simulator intelligent controller, is controlled the operation of the simulator head and is adopted Collect the working condition of the simulator head；

Step S3, the simulator intelligent controller is connected by simulator remote client, simulator intelligence described in remote control The operation of controller simultaneously shows the working condition of the simulator head.

9. satellite attitude orbit control system method of testing according to claim 8, it is characterised in that including,

Step S4, the work state information of the simulator head is gathered by simulator working condition acquisition module, and is sent to Zero greeve controller in simulator intelligent controller；The simulator head is carried out by the expert knowledge library of zero slot controller memory store The work state information in portion compares to judge whether failure.

10. satellite attitude orbit control system method of testing according to claim 8, it is characterised in that including step S5, number Computer connects the bus according to statistics, receives the configuration information and the satellite to be measured of the simulator intelligent controller broadcast Sensor telemetry, the statistical analysis of test data is carried out automatically.