A fault diagnosis method for remote sensing satellite receiving antenna based on fault tree

Abstract

The present invention relates to the technical field of operation management of remote sensing satellite ground receiving system, and in particular to a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree. The method comprises: establishing a root node remote sensing satellite receiving antenna system fault tree, the root node of the root node remote sensing satellite receiving antenna system fault tree includes a time code encoding unit fault, an antenna control unit fault, an antenna drive unit fault and a polarization control unit fault, establishing a parent node time code encoding unit fault tree, the parent node time code encoding unit fault tree includes a coding code hopping fault and a time code hopping fault, establishing a parent node antenna control unit fault tree, the parent node antenna control unit fault tree includes an antenna out of control fault, an antenna oscillation fault and a link fault, establishing a parent node antenna drive unit fault tree, and establishing a parent node polarization control unit fault tree. The present invention locates the fault and gives a diagnostic suggestion, which can meet the fault diagnosis of a large-caliber remote sensing satellite ground receiving antenna system.

Description

Technical Field

[0001] The invention relates to the technical field of operation management of a remote sensing satellite ground receiving system, and in particular to a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree. Background Art

[0002] With the rapid increase in the number of remote sensing satellites in orbit, the number of ground receiving antennas and the daily mission execution of a single antenna have increased sharply, which has put forward higher requirements for the reliability and stability of the ground system. For large-diameter antennas, the design life is generally more than 15 years. The surge in business volume means the reduction of mechanical and electrical performance and the shortening of service time. When a component has a problem, it currently mainly relies on manual maintenance by stopping the machine, which takes a long time to recover. This situation is more serious when there is a shortage of spare parts. Timely detection and positioning of faults in the early stage of the problem has become an important aspect of system construction and maintenance.

[0003] Fault tree analysis is widely used in the development of system reliability analysis, but conventional fault tree analysis does not consider the correlation between equipment or component failures, and its effectiveness in dynamic system fault analysis is limited, and it cannot meet the reliability requirements of complex system fault diagnosis. At the same time, the existing research on remote sensing satellite receiving antenna fault diagnosis is relatively weak, and there is no example of engineering application in the construction of remote sensing satellite ground receiving system. Combined with the current trend of unattended automatic operation of remote sensing satellite receiving system, an antenna fault diagnosis method based on fault tree is proposed and implemented. Summary of the invention

[0004] In view of the shortcomings of the prior art mentioned above, the purpose of the present invention is to provide a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree, which performs comprehensive fault diagnosis on the remote sensing satellite receiving antenna system through various data collected in real time, locates the fault and gives diagnostic suggestions, which can meet the fault diagnosis of large-aperture remote sensing satellite ground receiving antenna systems.

[0005] To achieve the above-mentioned object and other related objects, the present invention provides a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree, comprising:

[0006] S1. Establishing a root node remote sensing satellite receiving antenna system fault tree, wherein the root nodes of the root node remote sensing satellite receiving antenna system fault tree include a time code encoding unit fault, an antenna control unit fault, an antenna driving unit fault, and a polarization control unit fault;

[0007] S2, establishing a parent node time code encoding unit fault tree, wherein the parent node time code encoding unit fault tree includes a coding code hopping fault and a time code hopping fault;

[0008] S3, establishing a parent node antenna control unit fault tree, wherein the parent node antenna control unit fault tree includes antenna out-of-control fault, antenna oscillation fault and link fault;

[0009] S4, establishing a parent node antenna driving unit fault tree, wherein the parent node antenna driving unit fault tree includes multiple branch faults;

[0010] S5. Establish a parent node polarization control unit fault tree, where the parent node polarization control unit fault tree includes multiple polarization controller control timeout faults.

[0011] In one embodiment of the present invention, the establishment of the root node remote sensing satellite receiving antenna system fault tree in step S1 includes:

[0012] S11, analyzing the cause of the remote sensing satellite receiving antenna system failure, and obtaining the minimum cut set of intermediate events {MB1}, {MB2}, {MB3}, {MB4} according to the event logic;

[0013] S12, the minimum cut sets {MB1}, {MB2}, {MB3}, and {MB4} correspond to a time code encoding unit failure, an antenna control unit failure, an antenna driving unit failure, and a polarization control unit failure, respectively;

[0014] S13. Connect the minimum cut sets {MB1}, {MB2}, {MB3}, and {MB4} with a logic OR gate to establish a root node remote sensing satellite receiving antenna system fault tree, wherein the root node MA of the root node remote sensing satellite receiving antenna system fault tree is equal to MB1∪MB2∪MB3∪MB4.

[0015] In one embodiment of the present invention, the step S2 of establishing the parent node time code unit fault tree comprises:

[0016] S20, locate the fault cause according to the detected code hopping fault, obtain the minimum cut set as the coding code hopping fault {MC1} and the timing code hopping fault {MC2}, connect the coding code hopping fault {MC1} and the timing code hopping fault {MC2} with a logic OR gate, and the timing code unit fault MB1=MC1∪MC2;

[0017] S21, analyzing the cause of the coding code jumping fault {MC1}, obtaining the minimum cut set of azimuth axis angle jumping, pitch axis angle jumping, and third axis angle jumping, the minimum cut set of azimuth axis angle jumping, pitch axis angle jumping, and third axis angle jumping respectively corresponds to the fault tree child nodes {MD1}, {MD2}, and {MD3}, connecting the fault tree child nodes {MD1}, {MD2}, and {MD3} with a logic OR gate, and the coding code jumping fault MC1 = MD1∪MD2∪MD3;

[0018] S22, analyzing the cause of the time code hopping fault {MC2}, and obtaining the minimum cut set as the time hopping second, wherein the time hopping second is used as a fault tree child node.

[0019] In one embodiment of the present invention, the establishing of the parent node antenna control unit fault tree in step S3 includes:

[0020] S30, analyzing the cause of the antenna control unit failure, obtaining the minimum cut set of antenna out-of-control failure {MC3}, antenna oscillation failure {MC4}, and antenna link failure {MC5}, connecting the antenna out-of-control failure {MC3}, antenna oscillation failure {MC4}, and antenna link failure {MC5} with a logic OR gate, and the antenna control unit failure MB2 = MC3∪MC4∪MC5;

[0021] S31, analyzing the antenna rotation speed, obtaining the minimum cut set of azimuth axis out-of-control fault, pitch axis out-of-control fault, and third axis out-of-control fault, wherein the minimum cut set of azimuth axis out-of-control fault, pitch axis out-of-control fault, and third axis out-of-control fault respectively corresponds to the fault tree leaf nodes {MD4}, {MD5}, and {MD6}, and the fault tree leaf nodes {MD4}, {MD5}, and {MD6} are connected by a logic OR gate, and the antenna out-of-control fault MC3 = MD4∪MD5∪MD6;

[0022] S32, analyzing the current variation amplitudes of the antenna azimuth axis, elevation axis, and third axis, and obtaining the minimum cut set of azimuth axis oscillation fault, elevation axis oscillation fault, and third axis oscillation fault, wherein the minimum cut set of azimuth axis oscillation fault, elevation axis oscillation fault, and third axis oscillation fault respectively corresponds to the fault tree leaf nodes {MD7}, {MD8}, and {MD9}, and the fault tree leaf nodes {MD7}, {MD8}, and {MD9} are connected by a logic OR gate, and the antenna oscillation fault MC4 = MD7∪MD8∪MD9;

[0023] S33. Monitor the routine monitoring information of the antenna control unit, and obtain the minimum cut set of time code encoding unit link failure, antenna drive unit link failure, polarization control unit link failure, tracking receiver link failure, and antenna control unit link failure. The minimum cut set of time code encoding unit link failure, antenna drive unit link failure, polarization control unit link failure, tracking receiver link failure, and antenna control unit link failure respectively correspond to the fault tree leaf nodes {MD10}, {MD11}, {MD12}, {MD13}, and {MD14}. The fault tree leaf nodes {MD10}, {MD11}, {MD12}, {MD13}, and {MD14} are connected with a logic OR gate, and the antenna link failure MC5 = MD10∪MD11∪MD12∪MD13∪MD14.

[0024] In one embodiment of the present invention, the establishment of the parent node antenna driving unit fault tree in step S4 includes:

[0025] S40, analyzing the cause of the antenna drive unit failure, obtaining the minimum cut set of azimuth axis branch failure {MC6}, elevation axis branch failure {MC7}, and third axis branch failure {MC8}, connecting the azimuth axis branch failure {MC6}, elevation axis branch failure {MC7}, and third axis branch failure {MC8} with a logic OR gate, and the antenna drive unit failure MB3 = MC6∪MC7∪MC8;

[0026] S41, analyzing the azimuth axis branch fault, obtaining the minimum cut set as the protection switch fault {MD15}, the azimuth axis branch electromechanical fault {MD16}, and the plug-in lock fault {MD17}, connecting the protection switch fault {MD15}, the azimuth axis branch electromechanical fault {MD16}, and the plug-in lock fault {MD17} with a logical OR gate, and the azimuth axis branch fault MC6 = MD15∪MD16∪MD17;

[0027] S42, analyzing the pitch axis branch fault, obtaining the minimum cut set as the protection switch fault {MD18}, the pitch axis branch electromechanical fault {MD19}, and the plug-in lock fault {MD20}, connecting the protection switch fault {MD18}, the pitch axis branch electromechanical fault {MD19}, and the plug-in lock fault {MD20} with a logical OR gate, the pitch axis branch fault MC7 = MD18∪MD19∪MD20;

[0028] S43. Analyze the fault of the third-axis branch and obtain the minimum cut set, which is the control and protection switch fault {MD21}, the third-axis branch electromechanical fault {MD22}, and the plug-in lock fault {MD23}. Use a logical OR gate to connect the control and protection switch fault {MD21}, the third-axis branch electromechanical fault {MD22}, and the plug-in lock fault {MD23}. The third-axis branch fault MC8 = MD21∪MD22∪MD23.

[0029] In one embodiment of the present invention, the establishing of the parent node polarization control unit fault tree in step S5 includes:

[0030] By analyzing the cause of the polarization control unit failure, the minimum cut set is obtained, which is the control timeout fault of polarization controller No. 1 {MC9}, the control timeout fault of polarization controller No. 2 {MC10}, the control timeout fault of polarization controller No. 3 {MC11}, the control timeout fault of polarization controller No. 4 {MC12}, the control timeout fault of polarization controller No. 5 {MC13}, and the control timeout fault of polarization controller No. 6 {MC14}. The control timeout fault of polarization controller No. 1 {MC9}, the control timeout fault of polarization controller No. 2 {MC10}, the control timeout fault of polarization controller No. 3 {MC11}, the control timeout fault of polarization controller No. 4 {MC12}, the control timeout fault of polarization controller No. 5 {MC13}, and the control timeout fault of polarization controller No. 6 {MC14} are connected with a logical OR gate, and the polarization control unit fault MB4 = MC9∪MC10∪MC11∪MC12∪MC13∪MC14.

[0031] In one embodiment of the present invention, step S21 includes:

[0032] S211, setting the maximum speed parameters of the three axes of the antenna, namely the azimuth axis, the elevation axis, and the third axis;

[0033] S212, real-time monitoring of antenna angle information and angle hopping status information in the antenna control unit;

[0034] S213, respectively calculating the difference between the current antenna angle measurement value of the azimuth axis, the pitch axis, and the third axis angle encoder and the previous antenna angle measurement value, if the ratio of the angle difference to the sampling time is greater than the set maximum speed parameter, it is determined that the encoding code jumping fault occurs, or when the antenna control unit reports the azimuth axis, the pitch axis, and the third axis code jumping, it is determined that the encoding code jumping fault occurs;

[0035] S214, according to the determination results of the azimuth axis, the pitch axis, and the third axis, obtain an azimuth axis angle hopping code, a pitch axis angle hopping code, and a third axis angle hopping code, wherein the azimuth axis angle hopping code, the pitch axis angle hopping code, and the third axis angle hopping code correspond to the fault tree child nodes {MD1}, {MD2}, and {MD3} respectively;

[0036] S215, refer to the fault location azimuth axis, pitch axis, third axis resolver concentricity anomaly, resolver joint fault, cable fault, encoder board fault for manual inspection.

[0037] In one embodiment of the present invention, step S22 includes:

[0038] S221, real-time monitoring of time information and time hopping code status information in the antenna control unit;

[0039] S222, monitoring the continuity of the time information of the time coder in real time, and determining that the time code is a code-hopping fault if the time information is discontinuous, or determining that the time code is a code-hopping fault if the antenna control unit reports a second jump;

[0040] S223, according to the determination result, the time jump second is obtained, and the fault tree node corresponding to the time jump second is the time code jump fault {MC2};

[0041] S224, refer to the fault location system fault and encoding board fault for manual inspection.

[0042] In one embodiment of the present invention, step S31 includes:

[0043] S311, setting the speed threshold and time threshold of the azimuth axis, the pitch axis, and the third axis;

[0044] S312, real-time monitoring of antenna angle information in the antenna control unit;

[0045] S313, calculating the antenna rotation speed according to the coding angles of the azimuth axis, the elevation axis, and the third axis, and comparing the antenna rotation speed with the rotation speed threshold. If the rotation speed is greater than the rotation speed threshold and the sampling time is greater than the time threshold, it is determined that the antenna is out of control;

[0046] S314. According to the result of the determination of the antenna operation out of control, an azimuth axis out of control fault, a pitch axis out of control fault, and a third axis out of control fault are obtained. The azimuth axis out of control fault, the pitch axis out of control fault, and the third axis out of control fault correspond to the fault tree child nodes {MD4}, {MD5}, and {MD6} respectively.

[0047] S315, refer to the fault location of abnormal loop parameters of the three axes, power amplifier board failure, tracking mislock failure, analog-to-digital conversion module failure, and single motor friction clutch disengagement failure for manual inspection.

[0048] In one embodiment of the present invention, step S32 includes:

[0049] S321, setting the statistical time, amplitude threshold, and number threshold of the azimuth axis, the pitch axis, and the third axis;

[0050] S322, real-time monitoring of current collection information of the current sensor and motor current information reported by the antenna control unit;

[0051] S323, calculating the difference between the current motor current value of the azimuth axis, the pitch axis, and the third axis and the previous motor current value, and within the statistical time, if the difference is greater than the amplitude threshold, and the number of times the current polarity of the current acquisition information is reversed is greater than the number threshold, it is determined that the antenna oscillation fault;

[0052] S324. According to the determination result of the antenna oscillation fault, an azimuth axis oscillation fault, an elevation axis oscillation fault, and a third axis oscillation fault are obtained. The azimuth axis oscillation fault, the elevation axis oscillation fault, and the third axis oscillation fault correspond to the fault tree child nodes {MD7}, {MD8}, and {MD9} respectively.

[0053] S325. Reference fault location: mutual interference between the azimuth axis antenna and the third axis antenna, unreasonable loop parameters, load changes, transmission link failure, gust disturbance, for manual inspection.

[0054] In one embodiment of the present invention, step S33 includes:

[0055] S331, setting a time threshold for link fault inspection;

[0056] S332, real-time monitoring of the multicast data of the antenna control unit and the status information of each link in the data frame;

[0057] S333: If the status information of each link in the data frame reported by the antenna control unit is abnormal information within the time threshold, the link is determined to be abnormal, and if the multicast data of the antenna control unit is not received within the time threshold, the link is determined to be interrupted;

[0058] S334. According to the determination results of link abnormality and link interruption, the time code encoding unit link failure, antenna drive unit link failure, polarization control unit link failure, tracking receiver link failure and antenna control unit link failure are obtained. The time code encoding unit link failure, antenna drive unit link failure, polarization control unit link failure and tracking receiver link failure correspond to the fault tree leaf nodes {MD10}, {MD11}, {MD12} and {MD13} respectively. The antenna control unit link failure corresponds to the fault tree leaf node {MD14}.

[0059] As described above, the remote sensing satellite receiving antenna fault diagnosis method based on a fault tree of the present invention has the following beneficial effects:

[0060] The fault tree-based remote sensing satellite receiving antenna fault diagnosis method of the present invention establishes and maintains a fault diagnosis rule set, performs reasoning based on the rules, performs comprehensive fault diagnosis on the remote sensing satellite receiving antenna system through various data collected in real time, locates the fault and gives diagnostic suggestions, which can meet the fault diagnosis of large-aperture remote sensing satellite ground receiving antenna systems.

[0061] The remote sensing satellite receiving antenna fault diagnosis method based on the fault tree of the present invention accurately analyzes the cause of the single fault of the antenna drive, studies various direct and indirect factors of the failure of the equipment unit, establishes the logical relationship of the fault event, and analyzes and obtains all the minimum fault cut sets.

[0062] The remote sensing satellite receiving antenna fault diagnosis method based on the fault tree of the present invention introduces the expert knowledge base for the first time to accurately describe all the minimum fault cut sets, and describes the combination of the minimum cut sets, fault tree child nodes, and parent nodes of various types of faults in the equipment unit through the logic function, so as to establish a complete fault rule set of the equipment unit. Among them, the implementation method of the minimum fault cut set is: parameter setting, real-time status monitoring, expert knowledge base data processing, fault conclusion drawing, reference positioning, and guidance.

[0063] The remote sensing satellite receiving antenna fault diagnosis method based on fault tree of the present invention has verified the feasibility and reliability of the method through actual engineering, has a high degree of fault resolution, and can meet engineering requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 A fault tree logic structure block diagram of a remote sensing satellite receiving antenna system of a root node of a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree provided in an embodiment of the present application;

[0065] Figure 2 A logical structure block diagram of a fault tree of a parent node time code encoding unit BT&PDU of a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree provided in an embodiment of the present application;

[0066] Figure 3 A logical structure diagram of a fault tree of a parent node antenna control unit ACU of a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree provided in an embodiment of the present application;

[0067] Figure 4 A logical structure diagram of a fault tree of a parent node antenna drive unit ADU of a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree provided in an embodiment of the present application;

[0068] Figure 5 A logical structure block diagram of a fault tree of an azimuth axis branch of a sub-node antenna drive unit ADU of a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree provided in an embodiment of the present application;

[0069] Figure 6 A fault tree logic structure block diagram of the azimuth axis branch (continued) of the sub-node antenna drive unit ADU of a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree provided in an embodiment of the present application;

[0070] Figure 7 A fault tree logic structure block diagram of the pitch axis branch of the sub-node antenna drive unit ADU of a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree provided in an embodiment of the present application;

[0071] Figure 8 A fault tree logic structure block diagram of the pitch axis branch (continued) of the sub-node antenna drive unit ADU of a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree provided in an embodiment of the present application;

[0072] Fig. 9 A logical structure block diagram of a fault tree of a third axis branch of a sub-node antenna drive unit ADU of a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree provided in an embodiment of the present application;

[0073] Fig.10 A fault tree logic structure block diagram of the third axis branch (continued) of the sub-node antenna drive unit ADU of a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree provided in an embodiment of the present application;

[0074] Fig.11 A fault tree logic structure block diagram of a parent node polarization control unit PCU of a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree provided in an embodiment of the present application. DETAILED DESCRIPTION

[0075] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0076] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic manner, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0077] See also Figure 1 , Figure 1 A remote sensing satellite receiving antenna system fault tree logic structure block diagram of the root node of a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree provided in an embodiment of the present application. The present invention provides a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree, establishes and maintains a fault diagnosis rule set, performs reasoning based on the rules, performs comprehensive fault diagnosis on the remote sensing satellite receiving antenna system through various data collected in real time, locates the fault and gives diagnostic suggestions, which can meet the fault diagnosis of large-aperture remote sensing satellite ground receiving antenna systems. Specifically including:

[0078] Step S1, establishing a root node remote sensing satellite receiving antenna system fault tree, wherein the root node of the root node remote sensing satellite receiving antenna system fault tree includes a time code encoding unit fault, an antenna control unit fault, an antenna drive unit fault, and a polarization control unit fault. Specifically, establishing a root node remote sensing satellite receiving antenna system fault tree in step S1 includes:

[0079] Step S11, analyzing the cause of the remote sensing satellite receiving antenna system failure, and obtaining the minimum cut set {MB1}, {MB2}, {MB3}, {MB4} of the intermediate events according to the event logic. Specifically, firstly analyzing the cause of the remote sensing satellite receiving antenna system failure that may cause the top-level event.

[0080] Step S12, the minimum cut sets {MB1}, {MB2}, {MB3}, and {MB4} correspond to a time code unit (BT&PDU) failure, an antenna control unit (ACU) failure, an antenna drive unit (ADU) failure, and a polarization control unit (PCU) failure, respectively.

[0081] Step S13, connecting the minimum cut sets {MB1}, {MB2}, {MB3}, {MB4} with a logic OR gate to establish a root node remote sensing satellite receiving antenna system fault tree, the root node MA of the root node remote sensing satellite receiving antenna system fault tree = MB1∪MB2∪MB3∪MB4.

[0082] See also Figure 2 , Figure 2 The logical structure block diagram of the parent node time code unit BT&PDU fault tree of a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree provided in an embodiment of the present application. Step S2, establish a parent node time code unit fault tree, wherein the parent node time code unit fault tree includes a coding code hopping fault and a time code hopping fault.

[0083] The step S2 of establishing the parent node time code unit fault tree includes:

[0084] Step S20, locate the fault cause according to the detected code jumping fault, obtain the minimum cut set as the coding code jumping fault {MC1} and the timing code code jumping fault {MC2}, connect the coding code jumping fault {MC1} and the timing code code jumping fault {MC2} with a logic OR gate, and the timing code unit fault MB1 = MC1∪MC2.

[0085] Step S21, analyze the cause of the coding code jumping fault {MC1}, and obtain the minimum cut set of azimuth axis (Az) angle jumping code, pitch axis (El) angle jumping code, and third axis (Til) angle jumping code. The minimum cut set of azimuth axis angle jumping code, pitch axis angle jumping code, and third axis angle jumping code respectively corresponds to the faulty tree branch nodes {MD1}, {MD2}, and {MD3}. The faulty tree branch nodes {MD1}, {MD2}, and {MD3} are connected with logic OR gates, and the coding code jumping fault MC1 = MD1∪MD2∪MD3.

[0086] Specifically, step S21 includes:

[0087] Step S211, parameter setting: setting the maximum speed parameters of the three axes of the antenna, namely the azimuth axis, the pitch axis, and the third axis.

[0088] Step S212, three-axis coding status monitoring: real-time monitoring of antenna angle information and angle code hopping status information in the antenna control unit.

[0089] Step S213, data processing: respectively calculate the difference between the current antenna angle measurement value and the previous antenna angle measurement value of the angular encoder of the azimuth axis, pitch axis, and third axis. If the ratio of the angle difference to the sampling time is greater than the set maximum speed parameter, a coding code jumping fault is determined. Or when the antenna control unit reports code jumping of the azimuth axis, pitch axis, and third axis, a coding code jumping fault is determined.

[0090] Step S214, fault conclusion: According to the judgment results of the azimuth axis, pitch axis and the third axis, the azimuth axis angle jump code, the pitch axis angle jump code and the third axis angle jump code are obtained. The azimuth axis angle jump code, the pitch axis angle jump code and the third axis angle jump code correspond to the fault tree child nodes {MD1}, {MD2} and {MD3} respectively.

[0091] Step S215, reference positioning and guidance: refer to the fault positioning azimuth axis, pitch axis, third axis resolver concentricity anomaly, resolver joint fault, cable fault, encoder board fault for manual inspection.

[0092] Step S22, analyzing the cause of the time code hopping fault {MC2}, obtaining the minimum cut set as the time hopping second, and the time hopping second as the fault tree child node.

[0093] Specifically, step S22 includes:

[0094] Step S221, time code status monitoring: real-time monitoring of the time information and time hopping code status information in the antenna control unit.

[0095] Step S222, data processing: real-time monitoring of the continuity of the time information of the time coder. If the time information is discontinuous, it is determined that the time code is a code-hopping fault. Or when the antenna control unit reports a skip second, it is determined that the time code is a code-hopping fault.

[0096] Step S223, fault conclusion: according to the determination result, the time jump second is obtained, and the fault tree node corresponding to the time jump second is the time code jump fault {MC2}.

[0097] Step S224, reference positioning and guidance: refer to the fault positioning system fault and encoding board fault for manual inspection.

[0098] Summary of the fault tree parent node: The time code encoding unit fault can be expressed as MB1=MC1∪MC2=MD1∪MD2∪MD3∪MC2.

[0099] See also Figure 3 , Figure 3 The logical structure block diagram of the parent node antenna control unit ACU fault tree of a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree provided in an embodiment of the present application. Step S3, establish a parent node antenna control unit fault tree, wherein the parent node antenna control unit fault tree includes antenna out-of-control fault, antenna oscillation fault and link fault.

[0100] Specifically, step S31 includes:

[0101] Step S311, parameter setting: setting the rotation speed threshold and time threshold of the azimuth axis, pitch axis and third axis.

[0102] Step S312, antenna angle status monitoring: real-time monitoring of antenna angle information in the antenna control unit.

[0103] Step S313, data processing: Calculate the antenna rotation speed according to the coding angles of the azimuth axis, the elevation axis and the third axis, and compare the antenna rotation speed with the rotation speed threshold. If it is greater than the rotation speed threshold and the sampling time is greater than the time threshold, it is determined that the antenna operation is out of control.

[0104] Step S314, fault conclusion: According to the judgment result of the antenna operation out of control, the azimuth axis out of control fault, the pitch axis out of control fault and the third axis out of control fault are obtained. The azimuth axis out of control fault, the pitch axis out of control fault and the third axis out of control fault correspond to the fault tree child nodes {MD4}, {MD5} and {MD6} respectively.

[0105] Step S315, reference positioning and guidance: refer to the fault positioning of the three-axis loop parameter abnormality, power amplifier board failure, tracking mislock failure, analog-to-digital conversion module failure, and single motor friction clutch disengagement failure for manual inspection.

[0106] Specifically, the step S32 includes:

[0107] Step S321, parameter setting: setting the statistical time, amplitude threshold, and number threshold of the azimuth axis, pitch axis, and third axis.

[0108] Step S322, state monitoring: real-time monitoring of the current collection information of the current sensor (DC servo source) and the motor current information reported by the antenna control unit (AC servo source).

[0109] Step S323, data processing: calculate the difference between the current motor current value of the azimuth axis, pitch axis, and third axis and the previous motor current value, and within the statistical time, the difference is greater than the amplitude threshold, and the number of times the current polarity of the current acquisition information is reversed is greater than the number threshold, then it is determined that the antenna is oscillating. Fault.

[0110] Step S324, fault conclusion: According to the judgment result of the antenna oscillation fault, the azimuth axis oscillation fault, the pitch axis oscillation fault and the third axis oscillation fault are obtained. The azimuth axis oscillation fault, the pitch axis oscillation fault and the third axis oscillation fault correspond to the fault tree leaf nodes {MD7}, {MD8} and {MD9} respectively.

[0111] Step S325, reference positioning and guidance: refer to the fault positioning azimuth axis antenna and the third axis antenna mutual interference, unreasonable loop parameters, load changes, transmission link failure, gust disturbance, so as to conduct manual inspection.

[0112] The step S33 comprises:

[0113] S331, parameter setting: setting the time threshold for link fault inspection;

[0114] S332, status monitoring: real-time monitoring of the multicast data of the antenna control unit and the status information of each link in the data frame;

[0115] S333, data processing: within the time threshold, if the status information of each link in the data frame reported by the antenna control unit is abnormal information, the link is determined to be abnormal, and within the time threshold, if the multicast data of the antenna control unit is not received, the link is determined to be interrupted;

[0116] S334, fault conclusion: According to the judgment results of link abnormality and link interruption, the time code encoding unit link failure, antenna drive unit link failure, polarization control unit link failure, tracking receiver link failure and antenna control unit link failure are obtained. The time code encoding unit link failure, antenna drive unit link failure, polarization control unit link failure and tracking receiver link failure correspond to the fault tree leaf nodes {MD10}, {MD11}, {MD12} and {MD13} respectively. The antenna control unit link failure corresponds to the fault tree leaf node {MD14}.

[0117] Step S335: For reference fault location and guidance, see Table 1, which is link fault output information.

[0118] Table 1:

[0119]

[0120] Summary of the fault tree parent node: ACU fault can be expressed as MB2=MC3∪MC4∪MC5=MD4∪MD5∪MD6∪MC7∪MD8∪MD9∪MD10∪MC11∪MD12∪MD13∪MD14.

[0121] Step S4: Establish a parent node antenna driving unit fault tree, wherein the parent node antenna driving unit fault tree includes multiple branch faults.

[0122] The traditional fault tree analysis method can solve random uncertainties well, but it is very difficult to accurately establish a fault rule set in a complex system, resulting in unclear logical relationships in the establishment of fault subtrees. At the same time, there are large errors in the qualitative extensive analysis model and probabilistic analysis model of minimum cut set fault research and in practical applications, which limits the application of traditional fault trees in complex system fault diagnosis.

[0123] See also Figure 4 , Figure 4 A logical structure block diagram of the fault tree of the parent node antenna drive unit ADU of a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree provided in an embodiment of the present application. The specific implementation method of the present invention is to accurately analyze the cause of the single fault of the antenna drive, study the various direct and indirect factors of the failure of the equipment unit, establish the logical relationship of the fault event, analyze and obtain all the minimum fault cut sets, introduce the expert knowledge base for the first time to accurately describe all the minimum fault cut sets, and describe the combination of the minimum cut sets, fault tree child nodes, and parent nodes of various faults in the equipment unit through logical functions, so as to establish a complete fault rule set for this equipment unit. Among them, the implementation method of the minimum fault cut set is: parameter setting, real-time status monitoring, expert knowledge base data processing, fault conclusion drawing, reference positioning, and guidance.

[0124] Firstly, the cause of the failure of the positioning antenna drive unit is analyzed, and the subdivided interval sets are obtained as azimuth axis branch failure {MC6}, elevation axis branch failure {MC7}, and third axis branch failure {MC8}, which are connected with a logic OR gate, MB3 = MC6∪MC7∪MC8.

[0125] Specifically, step S4 includes:

[0126] See also Figure 5 , Figure 5A logical structure block diagram of a fault tree of an azimuth axis branch of a sub-node antenna drive unit ADU of a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree provided in an embodiment of the present application.

[0127] Step S41, analyze the azimuth axis branch fault, and obtain the minimum cut set of the control and protection switch fault {MD15}, the azimuth axis branch electromechanical fault {MD16}, and the plug-in lock fault {MD17}. The control and protection switch fault {MD15}, the azimuth axis branch electromechanical fault {MD16}, and the plug-in lock fault {MD17} are connected with a logical OR gate, and the azimuth axis branch fault MC6 = MD15∪MD16∪MD17.

[0128] Specifically, the step S41 includes:

[0129] Step S411, the minimum cut set of the control and protection switch fault {MD15} is the zero-crossing switch fault {ME1}, the limit switch fault {ME2}, and the azimuth axis branch limit {ME3}, which are connected by a logic OR gate, MD15 = ME1∪ME2∪ME3.

[0130] Specifically, the step S411 includes:

[0131] Step S4111, zero-crossing switch fault {ME1}: set the statistical time, amplitude threshold, and number threshold, monitor the zero-crossing switch state and angle in the azimuth axis data frame reported by the antenna control unit, and process the data to obtain diagnostic conclusions and guidance, specifically including:

[0132] Step S41111, parameter setting: set the statistical time, amplitude threshold, and number threshold of the azimuth axis.

[0133] Step S41112, status monitoring: real-time monitoring of the azimuth axis antenna real-time angle information and zero-crossing switch status information in the antenna control unit.

[0134] Step S41113, data processing: calculate the azimuth axis angle hopping code, and if the sum of the current azimuth axis antenna angle value and the previous azimuth axis antenna angle value is greater than or equal to 358 degrees, then determine that the zero-crossing switch is faulty; if the sum of the current azimuth axis antenna angle value and the previous azimuth axis antenna angle value is less than 358 degrees, and within the statistical time, if the number of times the zero-crossing switch state changes exceeds the number threshold, then determine that the zero-crossing switch is faulty; if the sum of the current azimuth axis antenna angle value and the previous azimuth axis antenna angle value is greater than or equal to 358 degrees, if the zero-crossing switch state has never changed, then determine that the zero-crossing switch is faulty; if both positive and negative zero crossings are true, then determine that the zero-crossing switch is faulty. Specifically, positive and negative zero crossings include positive zero crossings and negative zero crossings, and positive zero crossings refer to the sum of the axis angle of the previous axis angle when the antenna rotates forward to be greater than or equal to 360°, and negative zero crossings refer to the sum of the axis angle of the previous axis angle when the antenna rotates negatively to be greater than 360°.

[0135] Step S41114, fault conclusion: According to the determination result, the fault tree leaf node corresponding to the zero-crossing switch fault is the zero-crossing switch fault {ME1}.

[0136] Step S41115, reference positioning and guidance: refer to the fault positioning azimuth axis zero-crossing switch failure, cable failure, collision block position offset, temperature too low switch characteristics change, switch power supply failure, for manual inspection.

[0137] Step S4112, limit switch failure {ME2}: set the angle range, statistical time, and modulation threshold parameters, monitor the limit state and antenna real-time angle in the azimuth axis data frame reported by the antenna control unit's routine monitoring information, and process the data to obtain diagnostic conclusions and guidance, specifically including:

[0138] Step S41121, parameter setting: setting the azimuth axis statistical time, amplitude threshold, and number threshold.

[0139] Step S41122, status monitoring: real-time monitoring of the antenna real-time angle information and limit status information in the antenna control unit.

[0140] Step S41123, data processing: If there is a limit state outside the set angle range, the limit switch is determined to be faulty; judge according to the logic of soft limit-preliminary limit-final limit, if the next limit state appears without the previous limit state, the limit switch is determined to be faulty; count the number of limit switch state changes within the set time, if the number of switch state changes exceeds the number threshold, the limit switch is determined to be faulty.

[0141] Step S41124, fault conclusion: According to the determination result, the fault tree child node corresponding to the limit switch fault is the limit switch fault {ME2}.

[0142] Step S41125, reference positioning and guidance: refer to the fault positioning switch failure, cable failure, and block position offset for manual inspection.

[0143] Step S4113, antenna limit status {ME3}: monitor the antenna limit status in the azimuth axis data frame in the antenna control unit, and process the data to obtain diagnostic conclusions and guidance, specifically including:

[0144] Step S41131, status monitoring: real-time monitoring of the limit status information in the antenna control unit.

[0145] Step S41132, data processing: judging fault information according to the antenna limit status reported by the antenna control unit.

[0146] Step S41133, fault conclusion: azimuth axis reverse final limit, azimuth axis reverse pre-limit, azimuth axis forward pre-limit, azimuth axis forward final limit, the azimuth axis reverse final limit, azimuth axis reverse pre-limit, azimuth axis forward pre-limit, azimuth axis forward final limit correspond to the fault tree leaf nodes MF1, MF2, MF3, MF4 respectively.

[0147] Step S41134: Refer to the positioning and guidance opinions: when the antenna is pre-limited, the antenna control unit switches to standby protection, and the antenna drive unit controls to exit the pre-limit; when the antenna is finally limited, the antenna control unit switches to standby protection for manual inspection.

[0148] See also Figure 6 , Figure 6 A fault tree logic structure block diagram of the azimuth axis branch (continued) of a sub-node antenna drive unit ADU of a remote sensing satellite receiving antenna fault diagnosis method based on a fault tree provided in an embodiment of the present application.

[0149] Specifically, the step S412 includes: the fault cut set of the azimuth axis branch electromechanical fault {MD16} is the azimuth axis drive fault {ME4} and the azimuth axis transmission fault {ME5}, which are connected by a logical OR gate, the azimuth axis branch electromechanical fault MD16 = ME4∪ME5, wherein the cut set of the azimuth axis drive fault {ME4} is the azimuth axis 1# drive fault {MF5} and the azimuth axis 2# drive fault {MF6}, ME4 = MF5∪MF6, wherein the cut set of the azimuth axis transmission fault {ME5} is the azimuth axis double chain inconsistency {MF7}, azimuth axis 1# transmission fault {MF8}, azimuth axis 2# transmission fault {MF9}, and the azimuth axis transmission fault ME5 = MF7∪MF8∪MF9.

[0150] Specifically, step S412 includes:

[0151] Step S4121, azimuth axis drive fault {ME4}: Make a judgment by detecting the digital drive information reported by the antenna control unit, and draw a diagnostic conclusion and guidance, specifically including:

[0152] Step S41211, status monitoring: real-time monitoring of digital drive information in the antenna control unit.

[0153] Step S41212, data processing: judging fault information according to the digital drive reported by the antenna control unit.

[0154] Step S41213, reference positioning and guidance: For reference positioning fault tree leaf nodes, fault conclusions, guidance, etc., please refer to the drive information fault output information table 2. Table 2 is the drive fault output information table, which uses a logical OR gate to connect the azimuth axis 1# drive fault MF5=MH1∪MH2∪MH3∪MH4∪MH5∪MH6∪MH7∪MH8, and the azimuth axis 2# drive fault MF6=MH9∪MH10∪MH11∪MH12∪MH13∪MH14∪MH15∪MH16.

[0155] Table 2:

[0156]

[0157]

[0158] Step S4122, azimuth axis transmission failure {ME5}: the fault cut set is azimuth axis double chain inconsistency {MF7}, azimuth axis 1# transmission failure {MF8}, azimuth axis 2# transmission failure {MF9}, among which azimuth axis double chain inconsistency {MF7} is the minimum cut set, connected by a logical OR gate, ME5=MF7∪MF8∪MF9.

[0159] Specifically, step S4122 includes:

[0160] Step S41221, azimuth axis double chain inconsistency {MF7}: setting a difference threshold and a time threshold, monitoring the azimuth axis motor current information reported by the antenna control unit and the collection information of the DC servo sensor, specifically including:

[0161] Step S412211, parameter setting: setting the difference threshold and time threshold for collecting azimuth axis motor current information.

[0162] Step S412212, status monitoring: real-time monitoring of the collected information of the DC servo sensor and the motor current information reported by the antenna control unit.

[0163] Step S412213, data processing: If the dual-chain current difference exceeds the difference threshold and the duration exceeds the time threshold, it is determined that the azimuth axis dual chains are inconsistent.

[0164] Step S412214, fault conclusion: the inconsistency of the azimuth axis double chain corresponds to the faulty tree leaf node MF7.

[0165] Step S412215, reference positioning and guidance: the transmission double chains are inconsistent, so manual inspection is required.

[0166] Step S41222, azimuth axis 1# transmission fault {MF8}, azimuth axis 2# transmission fault {MF9}: the minimum cut set is azimuth axis 1# transmission chain stuck {MH17}, azimuth axis 2# transmission chain stuck {MH19}, azimuth axis 1# friction clutch slipping {MH18}, azimuth axis 2# friction clutch slipping {MH20}, connected by logic OR gate, azimuth axis 1# transmission fault MF8=MH17∪MH18, azimuth axis 2# transmission fault MF9=MH19∪T20.

[0167] Specifically, step S41222 includes:

[0168] Step S412221, azimuth axis 1# transmission chain stuck {MH17}, azimuth axis 2# transmission chain stuck {MH19}: set speed threshold, current threshold, temperature threshold, time threshold, monitor motor related information reported by antenna control unit, specific steps include:

[0169] Step S4122211, parameter setting: set the speed threshold, current threshold, temperature threshold, and time threshold of the azimuth axis.

[0170] Step S4122212, status monitoring: real-time monitoring of the motor speed, motor current, and motor temperature in the conventional monitoring information of the antenna control unit and the sensor collection information.

[0171] Step S4122213, data processing: If the duration of the motor speed sensor feedback information is lower than the time threshold, and the duration of the motor current sensor feedback information is greater than the time threshold, it is determined that the azimuth axis 1# transmission chain is stuck and the azimuth axis 2# transmission chain is stuck; if the motor temperature sensor feedback information continues for a set time greater than the time threshold, and the duration of the motor current sensor feedback information is greater than the time threshold, it is determined that the azimuth axis 1# transmission chain is stuck and the azimuth axis 2# transmission chain is stuck.

[0172] Step S4122214, fault conclusion: The azimuth axis 1# transmission chain is stuck and the azimuth axis 2# transmission chain is stuck, which correspond to the faulty tree leaf nodes MH17 and MH19 respectively.

[0173] Step S4122215, refer to the positioning and guidance opinions: reduction box icing, bearing seizure, box body lack of lubrication, loop abnormality, motor failure, for manual inspection.

[0174] Step S412222: Azimuth axis 1# friction clutch slips {MH18}, azimuth axis 2# friction clutch slips {MH20}: set the difference threshold and time threshold, monitor the motor related information and DC motor test sensor data information reported by the antenna control unit, and the specific steps include:

[0175] Step S4122221, parameter setting: setting the difference threshold and time threshold of the azimuth axis.

[0176] Step S4122222, status monitoring: real-time monitoring of the DC servo is derived from information collected by the speed sensor, and the AC servo is derived from the motor speed information reported by the antenna control unit.

[0177] Step S4122223, data processing: calculate the difference in the absolute values ​​of the dual motor speeds through the motor speed feedback information. If the difference in the absolute values ​​of the dual motor speeds continues to be greater than the set dual motor speed over-value threshold for a certain period of time, it is determined that the azimuth axis 1# friction clutch is slipping and the azimuth axis 2# friction clutch is slipping.

[0178] Step S4122224, fault conclusion: the azimuth axis 1# friction clutch slips and the azimuth axis 2# friction clutch slips, corresponding to the faulty tree leaf nodes MH18 and MH20 respectively.

[0179] Step S4122225, reference positioning and guidance: the friction clutch is loose for manual inspection.

[0180] like Figure 5 As shown, step S413, plug-in and pull-out lock fault {MD17}: the minimum fault cut set is motor protection {ME6}, plug-in lock timeout {ME7}, and pull-out lock timeout {ME8}, which are connected by a logical OR gate, MD17=ME6∪ME7∪ME8.

[0181] Specifically, step S413 includes:

[0182] Step S4131, parameter setting: setting the time threshold of the azimuth axis.

[0183] Step S4132, status monitoring: real-time monitoring of information reported by the antenna control unit.

[0184] Step S4133, data processing: according to the information reported by the antenna control unit.

[0185] Step S4134, fault conclusion: the azimuth axis plug-in lock fault corresponds to the faulty tree leaf nodes ME6, ME7, and ME8.

[0186] Step S4135, reference positioning and guidance: plug-in lock motor protection, plug-in lock transmission abnormality, plug-in lock switch failure, cable connection failure, plug-in lock position deviation; general failure, with protection processing, continue to observe.

[0187] See also Figure 7 to Figure 10 , the parent nodes and leaf nodes of the fault tree of the pitch axis and the third axis are the same as those of the corresponding fault tree of the azimuth axis. Similarly, we can get:

[0188] like Figure 7 , Figure 8 As shown, step S42, pitch axis branch fault {MC7}: pitch axis branch fault MC7 = MD18∪MD19∪MD20 = ME9∪ME10∪ME11∪ME12∪ME13∪ME14∪ME15 = MG1∪MG2∪MG3∪MG4∪MG5∪MG6∪MG7∪MG8∪MG9 = MH21∪MH22∪MH23∪MH24∪MH25∪MH26∪MH27∪MH28∪MH29∪MH30∪MH31∪MH32∪MH33∪MH34∪MH35∪MH36∪MH37∪MH38∪MH39∪MH40.

[0189] like Fig. 9 , Fig.10 As shown, step S42, Til branch fault {MC8}: Til branch fault MC8 = MD21 ∪ MD22 ∪ MD23 = ME16 ∪ ME17 ∪ ME18 ∪ ME19 ∪ ME20 ∪ ME21 ∪ ME22 ∪ ME23 = MG10 ∪ MG12 ∪ MG13 ∪ MG14 ∪ MG15 ∪ MG1 6∪MG17∪MG18∪MG19=MH41∪MH42∪MH43∪MH44∪MH45∪MH46∪MH47∪MH48∪MH49∪MH50∪MH51∪MH52∪MH53∪MH54∪MH55∪MH56∪MH57∪MH58∪MH59∪MH60.

[0190] See also Fig.11 , Fig.11 A parent node polarization control unit PCU fault tree logical structure block diagram of a fault tree-based remote sensing satellite receiving antenna fault diagnosis method provided in an embodiment of the present application. Step S5, establish a parent node polarization control unit fault tree, the parent node polarization control unit fault tree includes multiple polarization controller control timeout faults. Analyze and locate the cause of the polarization control unit fault, the minimum interval set is polarization controller No. 1, polarization controller No. 2, polarization controller No. 3, polarization controller No. 4, polarization controller No. 5, polarization controller No. 6 control timeout {MC9}, {MC10}, {MC11}, {MC12}, {MC13}, {MC14}, MB4 = MC9∪MC10∪MC11∪MC12∪MC13∪MC114.

[0191] Specifically, step S5 includes:

[0192] Step S51, polarization controller No. 1, polarization controller No. 2, polarization controller No. 3, polarization controller No. 4, polarization controller No. 5, and polarization controller No. 6 control timeout, set the polarization controller monitoring time threshold, and determine whether the polarization control has timed out through monitoring information reported by the antenna control unit.

[0193] Specifically, the step S51 includes:

[0194] Step S511, parameter setting: setting the monitoring time thresholds of polarization controller No. 1, polarization controller No. 2, polarization controller No. 3, polarization controller No. 4, polarization controller No. 5, and polarization controller No. 6.

[0195] Step S512, parameter detection: monitoring the control response time of polarization controller No. 1, polarization controller No. 2, polarization controller No. 3, polarization controller No. 4, polarization controller No. 5, and polarization controller No. 6 in the antenna control unit.

[0196] Step S513, data processing: if the control response time is higher than the time threshold and the duration is greater than the time threshold, it is determined that polarization controller No. 1, polarization controller No. 2, polarization controller No. 3, polarization controller No. 4, polarization controller No. 5, and polarization controller No. 6 have timed out.

[0197] Step S514, fault conclusion: polarization controller No. 1, polarization controller No. 2, polarization controller No. 3, polarization controller No. 4, polarization controller No. 5, and polarization controller No. 6 have timed out, corresponding to faulty tree leaf nodes MC9, MC10, MC11, MC12, MC13, and MC14, respectively.

[0198] Step S515, reference positioning and guidance: No. 1 polarization controller, No. 2 polarization controller, No. 3 polarization controller, No. 4 polarization controller, No. 5 polarization controller, No. 6 polarization controller control super abnormal operation; general fault, if necessary, take corresponding measures to solve.

[0199] In summary, the fault tree-based remote sensing satellite receiving antenna fault diagnosis method of the present invention establishes and maintains a fault diagnosis rule set, performs reasoning based on the rules, performs comprehensive fault diagnosis on the remote sensing satellite receiving antenna system through various data collected in real time, locates the fault and gives diagnostic suggestions, which can meet the fault diagnosis of large-aperture remote sensing satellite ground receiving antenna systems.

[0200] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A remote sensing satellite receiving antenna fault diagnosis method based on a fault tree, characterized in that: include: S1. Establishing a root node remote sensing satellite receiving antenna system fault tree, wherein the root nodes of the root node remote sensing satellite receiving antenna system fault tree include a time code encoding unit fault, an antenna control unit fault, an antenna driving unit fault, and a polarization control unit fault; S2, establishing a parent node time code encoding unit fault tree, wherein the parent node time code encoding unit fault tree includes a coding code hopping fault and a time code hopping fault; S3, establishing a parent node antenna control unit fault tree, wherein the parent node antenna control unit fault tree includes antenna out-of-control fault, antenna oscillation fault and link fault; S4, establishing a parent node antenna driving unit fault tree, wherein the parent node antenna driving unit fault tree includes multiple branch faults; S5. Establishing a parent node polarization control unit fault tree, wherein the parent node polarization control unit fault tree includes multiple polarization controller control timeout faults; The step S3 of establishing the parent node antenna control unit fault tree includes: S30, analyzing the cause of the antenna control unit failure, obtaining the minimum cut set of antenna out-of-control failure {MC3}, antenna oscillation failure {MC4}, and antenna link failure {MC5}, connecting the antenna out-of-control failure {MC3}, antenna oscillation failure {MC4}, and antenna link failure {MC5} with a logic OR gate, and the antenna control unit failure MB2 = MC3∪MC4∪MC5; S31, analyzing the antenna rotation speed, obtaining the minimum cut set of azimuth axis out-of-control fault, pitch axis out-of-control fault, and third axis out-of-control fault, wherein the minimum cut set of azimuth axis out-of-control fault, pitch axis out-of-control fault, and third axis out-of-control fault respectively corresponds to the fault tree leaf nodes {MD4}, {MD5}, and {MD6}, and the fault tree leaf nodes {MD4}, {MD5}, and {MD6} are connected by a logic OR gate, and the antenna out-of-control fault MC3=MD4∪MD5∪MD6; S32, analyzing the current variation amplitudes of the antenna azimuth axis, elevation axis, and third axis, and obtaining the minimum cut set of azimuth axis oscillation fault, elevation axis oscillation fault, and third axis oscillation fault, wherein the minimum cut set of azimuth axis oscillation fault, elevation axis oscillation fault, and third axis oscillation fault respectively corresponds to the fault tree leaf nodes {MD7}, {MD8}, and {MD9}, and the fault tree leaf nodes {MD7}, {MD8}, and {MD9} are connected by a logic OR gate, and the antenna oscillation fault MC4=MD7∪MD8∪MD9; S33, monitoring the conventional monitoring information of the antenna control unit, and obtaining the minimum cut set of the time code encoding unit link failure, the antenna driving unit link failure, the polarization control unit link failure, the tracking receiver link failure, and the antenna control unit link failure, wherein the minimum cut set of the time code encoding unit link failure, the antenna driving unit link failure, the polarization control unit link failure, the tracking receiver link failure, and the antenna control unit link failure respectively correspond to the fault tree leaf nodes {MD10}, {MD11}, {MD12}, {MD13}, and {MD14}, and the fault tree leaf nodes {MD10}, {MD11}, {MD12}, {MD13}, and {MD14} are connected by a logic OR gate, and the antenna link failure MC5=MD10∪MD11∪MD12∪MD13∪MD14; The step S4 of establishing the parent node antenna driving unit fault tree includes: S40, analyzing the cause of the antenna drive unit failure, obtaining the minimum cut set of azimuth axis branch failure {MC6}, elevation axis branch failure {MC7}, and third axis branch failure {MC8}, connecting the azimuth axis branch failure {MC6}, elevation axis branch failure {MC7}, and third axis branch failure {MC8} with a logic OR gate, and the antenna drive unit failure MB3 = MC6∪MC7∪MC8; S41, analyzing the azimuth axis branch fault, obtaining the minimum cut set as the protection switch fault {MD15}, the azimuth axis branch electromechanical fault {MD16}, and the plug-in lock fault {MD17}, connecting the protection switch fault {MD15}, the azimuth axis branch electromechanical fault {MD16}, and the plug-in lock fault {MD17} with a logical OR gate, and the azimuth axis branch fault MC6 = MD15∪MD16∪MD17; S42, analyzing the pitch axis branch fault, obtaining the minimum cut set as the protection switch fault {MD18}, the pitch axis branch electromechanical fault {MD19}, and the plug-in lock fault {MD20}, connecting the protection switch fault {MD18}, the pitch axis branch electromechanical fault {MD19}, and the plug-in lock fault {MD20} with a logical OR gate, the pitch axis branch fault MC7 = MD18∪MD19∪MD20; S43. Analyze the fault of the third-axis branch and obtain the minimum cut set, which is the control and protection switch fault {MD21}, the third-axis branch electromechanical fault {MD22}, and the plug-in lock fault {MD23}. Use a logical OR gate to connect the control and protection switch fault {MD21}, the third-axis branch electromechanical fault {MD22}, and the plug-in lock fault {MD23}. The third-axis branch fault MC8 = MD21∪MD22∪MD23.

2. A remote sensing satellite receiving antenna fault diagnosis method based on a fault tree according to claim 1, characterized in that: The step S1 of establishing the root node remote sensing satellite receiving antenna system fault tree comprises: S11, analyzing the cause of the remote sensing satellite receiving antenna system failure, and obtaining the minimum cut set of intermediate events {MB1}, {MB2}, {MB3}, {MB4} according to the event logic; S12, the minimum cut sets {MB1}, {MB2}, {MB3}, and {MB4} correspond to a time code encoding unit failure, an antenna control unit failure, an antenna driving unit failure, and a polarization control unit failure, respectively; S13. Connect the minimum cut sets {MB1}, {MB2}, {MB3}, and {MB4} with a logic OR gate to establish a root node remote sensing satellite receiving antenna system fault tree, wherein the root node MA of the root node remote sensing satellite receiving antenna system fault tree is equal to MB1∪MB2∪MB3∪MB4.

3. A remote sensing satellite receiving antenna fault diagnosis method based on a fault tree according to claim 2, characterized in that: The step S2 of establishing the parent node time code unit fault tree includes: S20, locate the fault cause according to the detected code jumping fault, obtain the minimum cut set as the coding code jumping fault {MC1} and the time code code jumping fault {MC2}, connect the coding code jumping fault {MC1} and the time code code jumping fault {MC2} with a logic OR gate, and the time code unit fault MB1=MC1∪MC2; S21, analyzing the cause of the coding code jumping fault {MC1}, obtaining the minimum cut set of azimuth axis angle jumping, pitch axis angle jumping, and third axis angle jumping, the minimum cut set of azimuth axis angle jumping, pitch axis angle jumping, and third axis angle jumping respectively corresponds to the fault tree child nodes {MD1}, {MD2}, and {MD3}, connecting the fault tree child nodes {MD1}, {MD2}, and {MD3} with a logic OR gate, and the coding code jumping fault MC1=MD1∪MD2∪MD3; S22, analyzing the cause of the time code hopping fault {MC2}, and obtaining the minimum cut set as the time hopping second, wherein the time hopping second is used as a fault tree child node.

4. The remote sensing satellite receiving antenna fault diagnosis method based on fault tree according to claim 1 is characterized in that: The step S5 of establishing the parent node polarization control unit fault tree includes: By analyzing the causes of the polarization control unit failure, the minimum cut set is obtained, which is polarization controller control timeout fault No. 1 {MC9}, polarization controller control timeout fault No. 2 {MC10}, polarization controller control timeout fault No. 3 {MC11}, polarization controller control timeout fault No. 4 {MC12}, polarization controller control timeout fault No. 5 {MC13}, and polarization controller control timeout fault No. 6 {MC14}. The polarization controller control timeout fault No. 1 {MC9}, polarization controller control timeout fault No. 2 {MC10}, polarization controller control timeout fault No. 3 {MC11}, polarization controller control timeout fault No. 4 {MC12}, polarization controller control timeout fault No. 5 {MC13}, and polarization controller control timeout fault No. 6 {MC14} are connected with a logical OR gate, and the polarization control unit fault MB4 = MC9∪MC10∪MC11∪MC12∪MC13∪MC14.

5. The remote sensing satellite receiving antenna fault diagnosis method based on fault tree according to claim 3 is characterized in that: The step S21 comprises: S211, setting the maximum speed parameters of the three axes of the antenna, namely the azimuth axis, the elevation axis, and the third axis; S212, real-time monitoring of antenna angle information and angle hopping status information in the antenna control unit; S213, respectively calculating the difference between the current antenna angle measurement value of the azimuth axis, the pitch axis, and the third axis angle encoder and the previous antenna angle measurement value, if the ratio of the angle difference to the sampling time is greater than the set maximum speed parameter, it is determined that the encoding code jumping fault occurs, or when the antenna control unit reports the azimuth axis, the pitch axis, and the third axis code jumping, it is determined that the encoding code jumping fault occurs; S214, according to the determination results of the azimuth axis, the pitch axis, and the third axis, obtain an azimuth axis angle hopping code, a pitch axis angle hopping code, and a third axis angle hopping code, wherein the azimuth axis angle hopping code, the pitch axis angle hopping code, and the third axis angle hopping code correspond to the fault tree child nodes {MD1}, {MD2}, and {MD3} respectively; S215, refer to the fault location azimuth axis, pitch axis, third axis resolver concentricity anomaly, resolver joint fault, cable fault, encoder board fault for manual inspection.

6. A remote sensing satellite receiving antenna fault diagnosis method based on fault tree according to claim 5, characterized in that: The step S22 comprises: S221, real-time monitoring of time information and time hopping code status information in the antenna control unit; S222, monitoring the continuity of the time information of the time coder in real time, and determining that the time code is a code-hopping fault if the time information is discontinuous, or determining that the time code is a code-hopping fault if the antenna control unit reports a second jump; S223, according to the determination result, the time jump second is obtained, and the fault tree node corresponding to the time jump second is the time code jump fault {MC2}; S224, refer to the fault location system fault and encoding board fault for manual inspection.

7. The remote sensing satellite receiving antenna fault diagnosis method based on fault tree according to claim 1 is characterized in that: The step S31 comprises: S311, setting the speed threshold and time threshold of the azimuth axis, the pitch axis, and the third axis; S312, real-time monitoring of antenna angle information in the antenna control unit; S313, calculating the antenna rotation speed according to the coding angles of the azimuth axis, the elevation axis, and the third axis, and comparing the antenna rotation speed with the rotation speed threshold. If the rotation speed is greater than the rotation speed threshold and the sampling time is greater than the time threshold, it is determined that the antenna is out of control; S314. According to the result of the determination of the antenna operation out of control, an azimuth axis out of control fault, a pitch axis out of control fault, and a third axis out of control fault are obtained. The azimuth axis out of control fault, the pitch axis out of control fault, and the third axis out of control fault correspond to the fault tree child nodes {MD4}, {MD5}, and {MD6} respectively. S315, refer to the fault location of abnormal loop parameters of the three axes, power amplifier board failure, tracking mislock failure, analog-to-digital conversion module failure, and single motor friction clutch disengagement failure for manual inspection.

8. A remote sensing satellite receiving antenna fault diagnosis method based on a fault tree according to claim 7, characterized in that: The step S32 comprises: S321, setting the statistical time, amplitude threshold, and number threshold of the azimuth axis, the pitch axis, and the third axis; S322, real-time monitoring of current collection information of the current sensor and motor current information reported by the antenna control unit; S323, calculating the difference between the current motor current value of the azimuth axis, the pitch axis, and the third axis and the previous motor current value, and within the statistical time, if the difference is greater than the amplitude threshold, and the number of times the current polarity of the current acquisition information is reversed is greater than the number threshold, it is determined that the antenna oscillation fault; S324. According to the determination result of the antenna oscillation fault, an azimuth axis oscillation fault, an elevation axis oscillation fault, and a third axis oscillation fault are obtained. The azimuth axis oscillation fault, the elevation axis oscillation fault, and the third axis oscillation fault correspond to the fault tree child nodes {MD7}, {MD8}, and {MD9} respectively. S325, refer to the fault location azimuth axis antenna and the third axis antenna mutual interference, unreasonable loop parameters, load changes, transmission link failure, gust disturbance, for manual inspection; The step S33 comprises: S331, setting a time threshold for link fault inspection; S332, real-time monitoring of the multicast data of the antenna control unit and the status information of each link in the data frame; S333: If the status information of each link in the data frame reported by the antenna control unit is abnormal information within the time threshold, the link is determined to be abnormal, and if the multicast data of the antenna control unit is not received within the time threshold, the link is determined to be interrupted; S334. According to the determination results of link abnormality and link interruption, the time code encoding unit link failure, antenna drive unit link failure, polarization control unit link failure, tracking receiver link failure and antenna control unit link failure are obtained. The time code encoding unit link failure, antenna drive unit link failure, polarization control unit link failure and tracking receiver link failure correspond to the fault tree leaf nodes {MD10}, {MD11}, {MD12} and {MD13} respectively. The antenna control unit link failure corresponds to the fault tree leaf node {MD14}.

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