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A fault-tolerant autonomous wake-up control method for patrolling devices suitable for lunar back environment

A control method and patrol technology, which are applied in the direction of space navigation aircraft, aircraft, space navigation equipment, etc., can solve the problems affecting the patrol detection task, occlusion measurement and control, complex terrain, etc.

Active Publication Date: 2020-09-18
BEIJING INST OF CONTROL ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Compared with the landing area of ​​Chang'e-3, the terrain of Chang'e-4's landing area is more complex, and there may be uncertain factors such as terrain occlusion when the rover is working on the lunar surface. balanced situation
At the same time, if the patrol device encounters uncertain situations such as mechanism failure, mechanism movement jam, central computer shutdown or reset when it wakes up, these will limit the solar wing deployment process and affect the power of the patrol device.
In addition, even if the solar wings are normally deployed, they may block the measurement and control, thus affecting the detection task of the patrol

Method used

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  • A fault-tolerant autonomous wake-up control method for patrolling devices suitable for lunar back environment
  • A fault-tolerant autonomous wake-up control method for patrolling devices suitable for lunar back environment
  • A fault-tolerant autonomous wake-up control method for patrolling devices suitable for lunar back environment

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Experimental program
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Embodiment Construction

[0042] Before going to sleep, the patrol device in the lunar back environment injects wake-up related parameters into the EEPROM memory of the central control computer through ground control. After the patrol device is powered on, it reads the wake-up related parameters in the EEPROM memory, and deploys the solar wing according to certain rules according to the parameter judgment. After entering the process of deploying the solar wing, store the corresponding key data into important data, and the solar wing can still be deployed normally after the central control computer is switched off or reset.

[0043] The present invention is a fault-tolerant autonomous wake-up control method for a patrol device suitable for a moon-back environment, and the steps are as follows:

[0044] The first step: before sleep, the patrol center controls the computer A to set the wake-up parameters in the EEPROM memory;

[0045] The second step: before the dormancy, the patrol center controls the co...

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Abstract

The invention discloses an inspector fault-tolerant autonomous awakening control method suitable for a moon back environment. Firstly, before dormancy, an inspector center controlled computer A and acenter controlled computer B set awakening parameters correspondingly, and are mutually backed up, and then during awakening of an inspector, inspector solar wings are controlled to be expanded according to the awakening parameters; and the expansion applicable conditions of the inspector solar wings comprise fault freeness of an inspector mechanism, inspector measurement and control blocking, a rotary transforming fault of the inspector mechanism, motion clamping stagnation of the inspector mechanism, and cutting or resetting of the inspector center controlled computer.

Description

technical field [0001] The invention relates to the technical field of self-management platform of the moon back environment patrol device, in particular to a fault-tolerant autonomous wake-up control method of the patrol device suitable for the moon back environment. Background technique [0002] The Chang'e-4 probe achieved the first soft landing on the far side of the moon, and carried out in-situ and patrolling detection on the lunar surface with the support of the relay satellite relay link. Compared with the landing area of ​​Chang'e-3, the terrain of Chang'e-4's landing area is more complex, and there may be uncertain factors such as terrain occlusion when the rover is working on the lunar surface. Balanced situation. At the same time, if the patrol device encounters uncertain situations such as mechanism failure, mechanism movement jam, central computer shutdown or reset when it wakes up, these will limit the solar wing deployment process and affect the power of the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B64G1/22B64G1/24
CPCB64G1/222B64G1/24
Inventor 顾朋陈建新张志李志平张晋万丽景林琳李森李化云
Owner BEIJING INST OF CONTROL ENG