A detection method for abnormal stall of a control moment gyro of a spacecraft

Abstract

The present disclosure relates to a detection method for abnormal stop of a control moment gyro of a spacecraft, comprising: obtaining a plurality of on-orbit telemetry data of the control moment gyro within a specified time period, and performing rejection and repair processing to obtain on-orbit repair data corresponding to each type of on-orbit telemetry data, each on-orbit repair data corresponding to a threshold value; calculating the first-order difference of each on-orbit repair data respectively, and comparing each first-order difference value with the corresponding threshold value; the specified time period includes a plurality of abnormal time periods and a plurality of normal time periods; if the absolute value of each first-order difference value is greater than the corresponding threshold value in all abnormal time periods, and the absolute value of each first-order difference value is less than or equal to the corresponding threshold value in all normal time periods within the specified time period, the control moment gyro is in an abnormal stop state after the last abnormal time period. The present disclosure can accurately and timely detect and discover the stop of the control moment gyro.

Description

Technical Field

[0001] This disclosure relates to the field of aerospace measurement and control technology, and in particular to a method for detecting abnormal stoppage of a spacecraft's control moment gyroscope. Background Technology

[0002] With the development of aerospace technology, in order to improve the observation efficiency of Earth observation spacecraft, it is required that they not only possess high-precision imaging resolution, but also high-speed maneuverability and rapid Earth orientation capability. The maneuverability of Earth observation spacecraft largely depends on the capabilities of its actuators. Conventional attitude actuators, such as flywheels, cannot meet the requirements of Earth observation spacecraft missions, necessitating actuators that can meet higher requirements.

[0003] As an effective angular momentum exchange mechanism, the control torque gyroscope can provide an order of magnitude higher control torque than the flywheel for the same mass and volume. It also has the characteristics of fast response and no pollution, which can meet the needs of most complex aerospace missions and is considered an ideal actuator for spacecraft attitude control.

[0004] However, during the on-orbit operation of Earth observation spacecraft, frequent attitude maneuvers can easily lead to phenomena such as abnormal low-speed frame rotation or abnormally reduced speed of high-speed components, causing the control moment gyroscope to stop rotating and be disconnected from the control subsystem. This can have a significant impact on the on-orbit application of Earth observation spacecraft, and may even cause a decline in attitude control performance, limiting the application of payloads.

[0005] Therefore, it is necessary to propose a solution to improve one or more problems existing in the above-mentioned related technical solutions.

[0006] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0007] This disclosure provides a method for detecting abnormal stoppage of a spacecraft's control moment gyroscope, comprising the following steps:

[0008] Acquire several types of on-orbit telemetry data from the control torque gyroscope within a specified time period;

[0009] Each type of on-orbit telemetry data is processed by removing and repairing data to obtain on-orbit repair data corresponding to each type of on-orbit telemetry data, and each type of on-orbit repair data corresponds to a threshold value.

[0010] Calculate the first difference for each type of on-orbit repair data to obtain the first difference value corresponding to each type of on-orbit repair data, and compare the first difference value corresponding to each type of on-orbit repair data with the corresponding threshold value.

[0011] The specified time period includes several abnormal time periods and several normal time periods. If, in all the abnormal time periods, the absolute value of the first-order difference value corresponding to each type of on-orbit repair data is greater than the corresponding threshold value, and in all the normal time periods within the specified time period, the absolute value of the first-order difference value corresponding to each type of on-orbit repair data is less than or equal to the corresponding threshold value, then the control torque gyroscope is in an abnormal stop state after the last abnormal time period.

[0012] In an exemplary embodiment of this disclosure, the specified time period is:

[0013] T = [t1, t2, ..., t I1 ,t I2 ,...,t Ia ,...,t Ib ,...,t U1 ,t U2 ,...,t Ua ,...,t Ub ,...,t V1 ,t V2 ,...,t Va ,...,t Vb ,...,t Im ,....,tU m ,...,t Vm ,...,t m ];

[0014] Among them, [t Ia ,...,t Ib ]、[t Ua ,...,t Ub ] and [t Va ,...,t Vb All of these are abnormal time periods within the specified time period, t1, t2, t... I1 t I2 t U1 t U2 t V1 t V2 t Im t Um t Vm and t m All of these are normal time points within the specified time period;

[0015] The various types of on-orbit telemetry data include current data, voltage data, and rotational speed data;

[0016] The sequence of the current data is as follows:

[0017] The sequence of the voltage data is as follows:

[0018] The sequence of the rotational speed data is as follows:

[0019] in, Indicates t Im Current data at time Indicates t Um Voltage data at time Indicates t Vm Rotational speed data at any time

[0020] In an exemplary embodiment of this disclosure, the step of performing removal and repair processing on each type of on-orbit telemetry data to obtain on-orbit repair data corresponding to each type of on-orbit telemetry data, wherein each type of on-orbit repair data corresponds to a threshold value, includes:

[0021] Abnormal data are removed from each type of on-orbit telemetry data within the specified time period;

[0022] Each type of on-orbit telemetry data after removing the abnormal data is repaired to obtain the on-orbit repaired data corresponding to each type of on-orbit telemetry data.

[0023] The on-orbit repair data includes current repair data, voltage repair data, and speed repair data.

[0024] In one exemplary embodiment of this disclosure, the anomalous data includes outliers and / or isolated outliers.

[0025] In an exemplary embodiment of this disclosure, the step of repairing each type of on-orbit telemetry data after removing the abnormal data to obtain the on-orbit repaired data corresponding to each type of on-orbit telemetry data includes:

[0026] Set the inspection threshold value for the abnormal data;

[0027] Calculate the repair value for each sequence of on-orbit telemetry data, and set the repair value calculated based on the first four numerical points of each type of on-orbit telemetry data to be less than or equal to the test threshold value.

[0028] The repair values ​​of the other numerical points are compared sequentially with the test threshold value;

[0029] When all the repair values ​​are less than or equal to the test threshold, the repair is complete, and the on-orbit repair data corresponding to each type of on-orbit telemetry data is obtained.

[0030] In an exemplary embodiment of this disclosure, the expression for the test threshold value includes:

[0031]

[0032] Among them, M (1，x) n represents the test threshold value. * = (n1, n2, n3), where n1 represents the number of current data points, n2 represents the number of voltage data points, and n3 represents the number of rotational speed data points. This represents the current data at any given moment in the sequence of current data. This represents the voltage data at any given time in the sequence of voltage data. This represents the rotational speed data at any given moment in the sequence of rotational speed data.

[0033] The first four numerical points of the on-orbit telemetry data sequence are: and

[0034] In an exemplary embodiment of this disclosure, the expression for calculating the repair value includes:

[0035]

[0036] in, express The repair value.

[0037] In an exemplary embodiment of this disclosure, the step of sequentially comparing the repair values ​​of the other numerical points with the test threshold value includes:

[0038] when hour, and No wild value; then use AND The calculation continues for the next adjacent numerical point.

[0039] when hour, and No wild value;

[0040] when hour, For outlier points, use Alternative Continue calculation

[0041] when hour, and If there is no wild value, then the original For isolated outliers, use Alternative Forming new

[0042] when At that time, If it is a wild value, then use the... The calculation continues for the next adjacent numerical point.

[0043] The above calculations are performed sequentially until the last value point is reached, and the repair is completed, resulting in the on-orbit repair data corresponding to each type of on-orbit telemetry data.

[0044] The sequence of the current repair data is: ((t) I1 ,I1),(t I2 ,I2),...,(t Im ,I n ));

[0045] The sequence of the voltage repair data is: ((t) U1 ,U1),(t U2 ,U2),...,(t Um U n ));

[0046] The sequence of the rotation speed repair data is: ((t) V1 ,V1),(t V2 ,V2),...,(t Vm V n ));

[0047] Among them, (t) Im ,I n ) represents t Im Current repair data I at any moment n ,(t Um U n ) represents t Um Voltage repair data U at any moment n ,(t Vm V n ) represents t Vm Rotational speed repair data V at any moment n .

[0048] In an exemplary embodiment of this disclosure, the sequence of first-order difference values ​​corresponding to each type of on-orbit repair data includes:

[0049] The sequence of the first-order difference values ​​corresponding to the current repair data is as follows:

[0050] ((t I1 ,I1),(t I2 ,I2),...,(t Im ,ΔI n-1 ));

[0051] The sequence of the first-order difference values ​​corresponding to the voltage repair data is as follows:

[0052] ((t U1 ,U1),(t U2 ,U2),...,(t Um ,ΔU n-1 ));

[0053] The sequence of the first-order difference values ​​corresponding to the speed correction data is as follows:

[0054] ((t V1 ,V1),(t V2 ,V2),...,(t Vm ,ΔV n-1 ));

[0055] Among them, (t) Im ,ΔI n-1 ) represents t Im The first-order difference value ΔI corresponding to the current repair data at any given time n-1 ΔI 0-1 =I0-I n-1 (t Um ,ΔU n-1 ) represents t Um The first-order difference value ΔU corresponding to the voltage repair data at any given time n-1 , △U n-1 =U n -U n-1 (t vm , ΔV n-1 ) represents t Vm The first-order difference value ΔV corresponding to the time-speed repair data n-1 , △V n-1 =V n -V n-1 .

[0056] In an exemplary embodiment of this disclosure, the specified time period includes several abnormal time periods and several normal time periods. If, in all the abnormal time periods, the absolute value of the first-order difference value corresponding to each type of on-orbit repair data is greater than the corresponding threshold value, and in all the normal time periods within the specified time period, the absolute value of the first-order difference value corresponding to each type of on-orbit repair data is less than or equal to the corresponding threshold value, then the step of the control torque gyroscope being in an abnormal stop state after the last abnormal time period includes:

[0057] The aforementioned abnormal time periods include abnormal current time periods, abnormal voltage time periods, and abnormal speed time periods; wherein, the abnormal current time period is [t Ia ,...,t Ib The voltage anomaly time period is [t]. Ua ,...,t Ub The abnormal rotational speed period is [t]. Va ,...,t Vb ];

[0058] The plurality of threshold values ​​include at least a current repair data threshold, a voltage repair data threshold, and a speed repair data threshold;

[0059] If the following conditions are met simultaneously, the control torque gyroscope will be in an abnormal stop state after the last abnormal time period:

[0060] During the period of abnormal current [t] Ia ,...,t Ib Within the context, the first-order difference value |ΔI| corresponding to the current repair data. n-1 |>ε I And within all the normal time periods within the specified time period, |△I n-1 |≤ε I ; where ε I Indicates the current repair data threshold value;

[0061] During the period of voltage abnormality [t] Ua ,...,t Ub Within the range, the first-order difference value |ΔU| corresponding to the voltage repair data. n-1 |>ε U And within all the normal time periods within the specified time period, |△U n-1 |≤ε U ; where ε U Indicates the voltage repair data threshold value;

[0062] During the abnormal speed period [t] Va ,...,t VbWithin the range, the first-order difference value |ΔV| corresponding to the speed repair data. n-1 |>ε V And within all the normal time periods within the specified time period, |△V n-1 |≤ε V ; where ε V This indicates the speed repair data threshold value.

[0063] This disclosure proposes a method for detecting abnormal stoppage of the control moment gyroscope in a spacecraft. The method involves acquiring several types of on-orbit telemetry data and processing them by filtering and repairing them. By setting multiple threshold values, the first-order difference value corresponding to the repaired on-orbit data is compared with the multiple threshold values. By judging the last abnormal time period, the method can accurately and timely detect and discover the stoppage of the control moment gyroscope. Attached Figure Description

[0064] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0065] Figure 1 A schematic diagram illustrating the steps of a method for detecting abnormal stoppage of a spacecraft's control moment gyroscope in an exemplary embodiment of this disclosure;

[0066] Figure 2 A graph showing the current data in the on-orbit telemetry data obtained in an exemplary embodiment of this disclosure;

[0067] Figure 3 A graph showing voltage data from on-orbit telemetry data acquired in an exemplary embodiment of this disclosure;

[0068] Figure 4 A graph showing the rotational speed data in the on-orbit telemetry data obtained in an exemplary embodiment of this disclosure;

[0069] Figure 5 This diagram shows a graph of current repair data in an exemplary embodiment of this disclosure.

[0070] Figure 6 This diagram shows a graph of voltage repair data in an exemplary embodiment of this disclosure.

[0071] Figure 7 This diagram shows a graph of rotational speed repair data in an exemplary embodiment of this disclosure.

[0072] Figure 8A graph showing the first-order difference value of the current repair data in an exemplary embodiment of this disclosure;

[0073] Figure 9 This diagram shows a graph of the first-order difference value of the voltage repair data in an exemplary embodiment of this disclosure.

[0074] Figure 10 A graph showing the first-order difference value of the rotational speed repair data in an exemplary embodiment of this disclosure is provided. Detailed Implementation

[0075] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that this disclosure will be more comprehensive and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0076] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0077] This example implementation provides a method for detecting abnormal stoppage of a spacecraft's control moment gyroscope, such as... Figure 1 As shown, the following steps may be included:

[0078] Step S101: Acquire several types of on-orbit telemetry data from the control torque gyroscope within a specified time period.

[0079] Step S102: Perform removal and repair processing on each type of on-orbit telemetry data to obtain on-orbit repair data corresponding to each type of on-orbit telemetry data, and each type of on-orbit repair data corresponds to a threshold value.

[0080] Step S103: Calculate the first-order difference for each type of on-orbit repair data, obtain the first-order difference value corresponding to each type of on-orbit repair data, and compare the first-order difference value corresponding to each type of on-orbit repair data with the corresponding threshold value.

[0081] Step S104: The specified time period includes several abnormal time periods and several normal time periods. If, in all abnormal time periods, the absolute value of the first-order difference value corresponding to each type of on-orbit repair data is greater than the corresponding threshold value, and in all normal time periods within the specified time period, the absolute value of the first-order difference value corresponding to each type of on-orbit repair data is less than or equal to the corresponding threshold value, then the control torque gyroscope will be in an abnormal stop state after the last abnormal time period.

[0082] This disclosure proposes a method for detecting abnormal stoppage of a spacecraft's control moment gyroscope. This method acquires several types of on-orbit telemetry data, performs filtering and repair processing on these data, sets multiple threshold values, compares the first-order difference values ​​corresponding to the repaired on-orbit data with these threshold values, and determines the last abnormal time period. This allows for accurate and timely detection and discovery of the control moment gyroscope's stoppage.

[0083] The following will provide a more detailed description of a method for detecting abnormal stoppage of a spacecraft's control moment gyroscope, as proposed in this example embodiment.

[0084] In step S101, as Figure 2 , Figure 3 and Figure 4 As shown, several types of on-orbit telemetry data of the control torque gyroscope are obtained within a specified time period.

[0085] Furthermore, several types of on-orbit telemetry data include current data, voltage data, and rotational speed data.

[0086] The sequence of the current data is as follows:

[0087] The sequence of the voltage data is as follows:

[0088] The sequence of the rotational speed data is as follows:

[0089] in, Indicates t Im Current data at time Indicates t Um Voltage data at time Indicates t Vm Rotational speed data at any time The specified time period is: T = [t1, t2, ..., t] I1 ,t I2 ,...,t Ia ,...,t Ib ,...,t U1 ,t U2 ,...,t Ua ,...,tUb ,...,t V1 ,t V2 ,...,t Va ,...,t Vb ,...,t Im ,....,tU m ,...,t Vm ,...,t m ]. Among them, [t Ia ,...,t Ib ]、[t Ua ,...,t Ub ] and [t Va ,...,t Vb All of these are abnormal time periods within the specified time period, t1, t2, t... I1 t I2 t U1 t U2 t V1 t V2 t Im t Um t Vm and t m All of these are normal time points within the specified time period.

[0090] Furthermore, in this embodiment, the number of current data points acquired is 10589, the number of voltage data points acquired is 10589, and the number of rotational speed data points acquired is 65105.

[0091] In step S102, as Figure 5 , Figure 6 and Figure 7 As shown, each type of on-orbit telemetry data undergoes removal and repair processing to obtain on-orbit repaired data corresponding to each type of on-orbit telemetry data, and each type of on-orbit repaired data corresponds to a threshold value. Step S102 in this embodiment specifically includes the following sub-steps:

[0092] Sub-step S1021: Remove outlier data from each type of on-orbit telemetry data within the specified time period. Outlier data here includes at least one of outliers and isolated outliers.

[0093] Sub-step S1022: Set the threshold value for detecting abnormal data.

[0094] Sub-step S1023: Calculate the repair value for each type of on-orbit telemetry data sequence, and set the repair value calculated based on the first 4 numerical points of each type of on-orbit telemetry data as less than or equal to the test threshold value.

[0095] Sub-step S1024: Compare the repair values ​​of other numerical points with the test threshold values ​​in turn.

[0096] Sub-step S1025: When all repair values ​​are less than or equal to the test threshold, the repair is complete, and the on-orbit repair data corresponding to each type of on-orbit telemetry data is obtained.

[0097] Sub-steps S1022 to S1025 involve repairing each type of on-orbit telemetry data after removing abnormal data, resulting in on-orbit repaired data corresponding to each type of on-orbit telemetry data.

[0098] Furthermore, in sub-step S1021, the expression for the test threshold is:

[0099]

[0100] Among them, M (1，x) n represents the test threshold value. * = (n1, n2, n3), where n1 represents the number of current data points, n2 represents the number of voltage data points, and n3 represents the number of rotational speed data points. This represents the current data at any given moment in the sequence of current data. This represents the voltage data at any given time in the sequence of voltage data. This represents the rotational speed data at any given moment in the sequence of rotational speed data.

[0101] Furthermore, the first four numerical points of the on-orbit telemetry data sequence are as follows: and

[0102] In sub-step S1023, the expression for calculating the repair value is:

[0103]

[0104] in, express The repair value.

[0105] In sub-step S1024, the step of comparing the repaired values ​​of other numerical points with the test threshold values ​​in turn includes:

[0106] when hour, and No wild value; then use AND The calculation continues for the next adjacent numerical point.

[0107] when hour, and No wild value;

[0108] when hour, For outlier points, use Alternative Continue calculation

[0109] when hour, and If there is no wild value, then the original For isolated outliers, use Alternative Forming new

[0110] when At that time, If it is a wild value, then use the... The calculation continues for the next adjacent numerical point.

[0111] The above calculations are performed sequentially until the last value point is reached, at which point the repair is complete, and the on-orbit repair data corresponding to each type of on-orbit telemetry data is obtained.

[0112] The sequence of current repair data is: ((t) I1 ,I1),(t I2 ,I2),...,(t Im ,I n ));

[0113] The sequence of voltage repair data is: ((t) U1 ,U1),(t U2 ,U2),...,(t Um U n ));

[0114] The sequence of rotational speed repair data is: ((t) V1 ,V1),(t V2 ,V2),...,(t Vm V n ));

[0115] Among them, (t) Im ,I n ) represents t Im Current repair data I at any moment n ,(t Um U n ) represents t Um Voltage repair data U at any moment n ,(tVm V n ) represents t Vm Rotational speed repair data V at any moment n .

[0116] Here, the on-orbit repair data includes current repair data, voltage repair data, and speed repair data.

[0117] In step S103, as Figure 8 , Figure 9 and Figure 10 As shown, the first-order difference of each type of on-orbit repair data is calculated to obtain the first-order difference value corresponding to each type of on-orbit repair data, and the first-order difference value corresponding to each type of on-orbit repair data is compared with the corresponding threshold value.

[0118] In this step, the sequence of first-order difference values ​​corresponding to the current repair data is as follows:

[0119] ((t I1 ,I1),(t I2 ,I2),...,(t Im ,ΔI n-1 ));

[0120] The sequence of first-order difference values ​​corresponding to the voltage repair data is as follows:

[0121] ((t U1 ,U1),(t U2 ,U2),...,(t Um ,ΔU n-1 ));

[0122] The sequence of first-order difference values ​​corresponding to the speed correction data is as follows:

[0123] ((t V1 ,V1),(t V2 ,V2),...,(t Vm ,ΔV n-1 ));

[0124] Among them, (t) Im ,ΔI n-1 ) represents t Im The first-order difference value ΔI corresponding to the current repair data at any given time n-1 ΔI n-1 =I n -I n-1 ,(t Um ,ΔU n-1 ) represents t Um The first-order difference value ΔU corresponding to the voltage repair data at any given time n-1 ΔU n-1 =U n -Un-1 ,(t vm ,ΔV n-1 ) represents t Vm The first-order difference value ΔV corresponding to the time-speed repair data n-1 , △V n-1 =V0-V n-1 .

[0125] In step S104, the specified time period includes several abnormal time periods and several normal time periods. If, during the abnormal time period, the absolute value of the first-order difference value corresponding to each type of on-orbit repair data is greater than the corresponding threshold value, and during all the normal time periods within the specified time period, the absolute value of the first-order difference value corresponding to each type of on-orbit repair data is less than or equal to the corresponding threshold value, then the control torque gyroscope is in an abnormal stop state after the last abnormal time period.

[0126] In this step, several abnormal time periods include abnormal current time periods, abnormal voltage time periods, and abnormal speed time periods; among them, the abnormal current time period is [t]. Ia ,...,t Ib The voltage anomaly period is [t]. Ua ,...,t Ub The abnormal rotational speed period is [t]. Va ,...,t Vb ].

[0127] Multiple threshold values ​​include at least current repair data threshold, voltage repair data threshold, and speed repair data threshold, and may also include a time threshold, denoted by Td.

[0128] Furthermore, in this embodiment, ε I =0.25, ε U =1.5, ε V =1000

[0129] Furthermore, in this embodiment, T d =3T STAR , where T is the orbital period of the spacecraft. STAR = 98 minutes.

[0130] If the following conditions are met simultaneously, the control torque gyroscope will be in an abnormal stop state after the last abnormal time period:

[0131] During the period of abnormal current [t] Ia ,...,t Ib Within, the first-order difference value |ΔI| corresponding to the current repair data. n-1 |>ε IAnd within all normal time periods within the specified time period, |△I n-1 |≤ε I ; where ε I Indicates the current repair data threshold value;

[0132] In this embodiment, the abnormal time point of the first-order difference value corresponding to the current repair data is 9:12 AM on December 10, 2020.

[0133] During the period of voltage abnormality [t] Ua ,...,t Ub Within, the first-order difference value |ΔU] corresponding to the voltage repair data. n-1 |>ε U And within all normal time periods within the specified time period, |ΔU n-1 |≤ε U ; where ε U Indicates the voltage repair data threshold value;

[0134] In this embodiment, the abnormal time period corresponding to the first-order differential value of the voltage repair data is from 9:17 on December 10, 2020 to 21:17 on December 10, 2020. Therefore, 9:17 on December 10, 2020 is the start time of the abnormal time period, and 21:17 on December 10, 2020 is the end time of the abnormal time period.

[0135] During the abnormal speed period [t] Va ,...,t Vb Within, the first-order difference value |△V corresponding to the speed repair data. n-1 |>ε V And within all normal time periods within the specified time period, |ΔV n-1 |≤ε V ; where ε V Indicates the speed repair data threshold value;

[0136] In this embodiment, the abnormal time point of the first-order difference value corresponding to the rotational speed repair data is 9:17 AM on December 10, 2020.

[0137] Finally, in this embodiment, the last abnormal time period is determined to be the voltage abnormal time period [t]. Ua ,...,t Ub ], then the control torque gyroscope during the voltage abnormality period [t Ua ,...,t Ub After that, it entered an abnormal stop state, that is, within the time threshold Td range, the control torque gyroscope entered an abnormal stop state after 21:17 on December 10, 2020.

[0138] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0139] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A method for detecting abnormal stoppage of a control moment gyroscope in a spacecraft, characterized in that, include: Acquire several types of on-orbit telemetry data from the control torque gyroscope within a specified time period; Each type of on-orbit telemetry data is processed by removing and repairing data to obtain on-orbit repair data corresponding to each type of on-orbit telemetry data, and each type of on-orbit repair data corresponds to a threshold value. Calculate the first difference for each type of on-orbit repair data to obtain the first difference value corresponding to each type of on-orbit repair data, and compare the first difference value corresponding to each type of on-orbit repair data with the corresponding threshold value. The specified time period includes several abnormal time periods and several normal time periods. If, in all the abnormal time periods, the absolute value of the first-order difference value corresponding to each type of on-orbit repair data is greater than the corresponding threshold value, and in all the normal time periods within the specified time period, the absolute value of the first-order difference value corresponding to each type of on-orbit repair data is less than or equal to the corresponding threshold value, then the control torque gyroscope is in an abnormal stop state after the last abnormal time period.

2. The method for detecting abnormal stoppage of the control moment gyroscope in a spacecraft according to claim 1, characterized in that, The specified time period is: T = [t1,t2,...,t] I1 ,t I2 ,...,t Ia ,...,t Ib ,...,t U1 ,t U2 ,...,t Ua ,...,t Ub ,...,t V1 ,t V2 ,...,t Va ,...,t Vb ,...,t Im ,....,t Um ,...,t Vm ,...,t m ]; Among them, [t Ia ,...,t Ib ]、[t Ua ,...,t Ub ] and [t Va ,...,t Vb All of these are abnormal time periods within the specified time period, t1, t2, t... I1 t I2 t U1 t U2 t V1 t V2 t Im t Um t Vm and t m All of these are normal time points within the specified time period; The various types of on-orbit telemetry data include current data, voltage data, and rotational speed data; The sequence of the current data is as follows: The sequence of the voltage data is as follows: The sequence of the rotational speed data is as follows: in, Indicates t Im Current data at time Indicates t Um Voltage data at time Indicates t Vm Rotational speed data V at time n * .

3. The method for detecting abnormal stoppage of the control moment gyroscope in a spacecraft according to claim 2, characterized in that, The step of performing removal and repair processing on each type of on-orbit telemetry data to obtain on-orbit repaired data corresponding to each type of on-orbit telemetry data, wherein each type of on-orbit repaired data corresponds to a threshold value, includes: Abnormal data are removed from each type of on-orbit telemetry data within the specified time period; Each type of on-orbit telemetry data after removing the abnormal data is repaired to obtain the on-orbit repaired data corresponding to each type of on-orbit telemetry data. The on-orbit repair data includes current repair data, voltage repair data, and speed repair data.

4. The method for detecting abnormal stoppage of the control moment gyroscope of a spacecraft according to claim 3, characterized in that, The abnormal data includes outliers and / or isolated outliers.

5. The method for detecting abnormal stoppage of the control moment gyroscope of a spacecraft according to claim 4, characterized in that, The step of repairing each type of on-orbit telemetry data after removing the abnormal data to obtain the on-orbit repaired data corresponding to each type of on-orbit telemetry data includes: Set the inspection threshold value for the abnormal data; Calculate the repair value for each sequence of on-orbit telemetry data, and set the repair value calculated based on the first four numerical points of each type of on-orbit telemetry data to be less than or equal to the test threshold value. The repair values ​​of the other numerical points are compared sequentially with the test threshold value; When all the repair values ​​are less than or equal to the test threshold, the repair is complete, and the on-orbit repair data corresponding to each type of on-orbit telemetry data is obtained.

6. The method for detecting abnormal stoppage of the control moment gyroscope of a spacecraft according to claim 5, characterized in that, The expression for the test threshold value includes: Among them, M (1，x) n represents the test threshold value. * = (n1, n2, n3), where n1 represents the number of current data points, n2 represents the number of voltage data points, and n3 represents the number of rotational speed data points. This represents the current data at any given moment in the sequence of current data. This represents the voltage data at any given time in the sequence of voltage data. This represents the rotational speed data at any given moment in the sequence of rotational speed data. The first four numerical points of the on-orbit telemetry data sequence are: and 7. The method for detecting abnormal stoppage of the control moment gyroscope of a spacecraft according to claim 6, characterized in that, The expression for calculating the repair value includes: in, express The repair value.

8. The method for detecting abnormal stoppage of the control moment gyroscope of a spacecraft according to claim 7, characterized in that, The step of comparing the repaired values ​​of the other numerical points with the test threshold value in turn includes: when hour, and No wild value; then use AND The calculation continues for the next adjacent numerical point. when hour, and No wild value; when hour, For outlier points, use Alternative Continue calculation when hour, and If there is no wild value, then the original For isolated outliers, use Alternative Forming new when At that time, If it is a wild value, then use the... The calculation continues for the next adjacent numerical point. The above calculations are performed sequentially until the last value point is reached, and the repair is completed, resulting in the on-orbit repair data corresponding to each type of on-orbit telemetry data. The sequence of the current repair data is: ((t) I1 ,I1),(t I2 ,I2),...,(t Im ,I n )); The sequence of the voltage repair data is: ((t) U1 ,U1),(t U2 ,U2),...,(t Um U n )); The sequence of the rotation speed repair data is: ((t) V1 ,V1),(t V2 ,V2),...,(t Vm V n )); Among them, (t) Im ,I n ) represents t Im Current repair data I at any moment n ,(t Um U n ) represents t Um Voltage repair data U at any moment n ,(t Vm V n ) represents t Vm Rotational speed repair data V at any moment n .

9. The method for detecting abnormal stoppage of the control moment gyroscope of a spacecraft according to claim 8, characterized in that, The sequence of first-order difference values ​​corresponding to each type of on-orbit repair data includes: The sequence of the first-order difference values ​​corresponding to the current repair data is as follows: ((t I1 ,I1),(t I2 ,I2),...,(t Im ,ΔI n-1 )); The sequence of the first-order difference values ​​corresponding to the voltage repair data is as follows: ((t U1 ,U1),(t U2 ,U2),...,(t Um ,ΔU n-1 )); The sequence of the first-order difference values ​​corresponding to the speed correction data is as follows: ((t V1 ,V1),(t V2 ,V2),...,(t Vm ,ΔV n-1 )); Among them, (t) Im ,ΔI n-1 ) represents t Im The first-order difference value ΔI corresponding to the current repair data at any given time n-1 ΔI n-1 =I n -I n-1 ,(t Um ΔU n-1 ) represents t Um The first-order difference value ΔU corresponding to the voltage repair data at any given time n-1 ΔU n-1 =U n -U n-1 ,(t Vm , ΔV n-1 ) represents t Vm The first-order difference value ΔV corresponding to the time-speed repair data n-1 , ΔV n-1 =V n -V n-1 .

10. The method for detecting abnormal stoppage of the control moment gyroscope of a spacecraft according to claim 9, characterized in that, The specified time period includes several abnormal time periods and several normal time periods. If, in all the abnormal time periods, the absolute value of the first-order difference value corresponding to each type of on-orbit repair data is greater than the corresponding threshold value, and in all the normal time periods within the specified time period, the absolute value of the first-order difference value corresponding to each type of on-orbit repair data is less than or equal to the corresponding threshold value, then the step of the control torque gyroscope being in an abnormal stop state after the last abnormal time period includes: The aforementioned abnormal time periods include abnormal current time periods, abnormal voltage time periods, and abnormal speed time periods; wherein, the abnormal current time period is [t Ia ,...,t Ib The voltage anomaly time period is [t]. Ua ,...,t Ub The abnormal rotational speed period is [t]. Va ,...,t Vb ]; The plurality of threshold values ​​include at least a current repair data threshold, a voltage repair data threshold, and a speed repair data threshold; If the following conditions are met simultaneously, the control torque gyroscope will be in an abnormal stop state after the last abnormal time period: During the period of abnormal current [t] Ia ,...,t Ib Within the context, the first-order difference value |ΔI| corresponding to the current repair data. n-1 |>ε I And within all the normal time periods within the specified time period, |ΔI n-1 |≤ε I ; where ε I Indicates the current repair data threshold value; During the period of voltage abnormality [t] Ua ,...,t Ub Within the range, the first-order difference value |ΔU| corresponding to the voltage repair data. n-1 |>ε U And within all the normal time periods within the specified time period, |ΔU n-1 |≤ε U ; where ε U Indicates the voltage repair data threshold value; During the abnormal speed period [t] Va ,...,t Vb Within the range, the first-order difference value |ΔV| corresponding to the speed repair data. n-1 |>ε V And within all the normal time periods within the specified time period, |ΔV n-1 |≤ε V ; where ε V This indicates the speed repair data threshold value.

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