A high-stability solar panel drive mechanism fault feature identification and isolation method

Abstract

The application provides a high-stability solar panel drive mechanism fault feature identification and isolation method, comprising: obtaining characteristic parameters of a solar panel drive mechanism; wherein the characteristic parameters include the precision machine angle of the solar panel drive mechanism, a preset rotational speed instruction value, a detection mechanism temperature, a current component of a permanent magnet synchronous motor and a bearing temperature; determining the fault level of the solar panel drive mechanism according to the characteristic parameters; and determining a fault isolation method corresponding to each fault level based on each fault level. According to the scheme, the fault point of the solar panel drive mechanism can be identified and isolated in time and effectively, thereby improving the safety and reliability of the solar panel drive mechanism.

Description

Technical Field

[0001] This invention relates to the field of fault diagnosis technology for spatial pointing and tracking mechanisms, and in particular to a method for identifying and isolating fault characteristics of a high-stability solar panel drive mechanism. Background Technology

[0002] The high-stability solar array drive assembly (SADA) is a common key technology for next-generation low-Earth orbit remote sensing platforms. It involves two major subsystems of the entire satellite: the control subsystem and the energy subsystem, and must possess high reliability and safety over extended periods. The SADA and its drive control need to meet the requirements of long-term uninterrupted operation. To prevent faults at this level from leading to higher-level or even system-wide failures, and to ensure the stable and reliable on-orbit operation of the SADA, it is necessary to identify the fault characteristics of the SADA and determine corresponding isolation methods.

[0003] In related technologies, solar panel drive mechanisms generally adopt stepper motor drive, and their fault diagnosis methods are implemented at the satellite control subsystem level. However, this fault diagnosis method cannot identify fault points in the drive mechanism in a timely and effective manner, nor can it clear and isolate faults in the drive system in a timely manner, thus seriously affecting the safety and reliability of the drive mechanism.

[0004] Therefore, there is an urgent need for a new method for identifying and isolating fault characteristics of high-stability solar panel drive mechanisms. Summary of the Invention

[0005] To address the problem that traditional fault isolation methods cannot identify and isolate fault points in the drive mechanism in a timely and effective manner, resulting in poor safety and reliability of the solar panel drive mechanism, this invention provides a method and apparatus for identifying and isolating fault features of a high-stability solar panel drive mechanism.

[0006] In a first aspect, embodiments of the present invention provide a method for identifying and isolating fault characteristics of a high-stability solar panel drive mechanism, the method comprising:

[0007] Obtain the characteristic parameters of the solar panel drive mechanism; wherein, the characteristic parameters include the precision angle of the solar panel drive mechanism, the preset speed command value, the temperature of the detection mechanism, the current component and the bearing temperature;

[0008] Based on the aforementioned characteristic parameters, the fault level of the solar panel drive mechanism is determined;

[0009] Based on each of the aforementioned fault levels, a fault isolation method corresponding to each of the aforementioned fault types is formulated.

[0010] Secondly, embodiments of the present invention also provide a fault characteristic identification and isolation device for a high-stability solar panel drive mechanism, the device comprising:

[0011] The acquisition unit is used to acquire characteristic parameters of the solar panel drive mechanism; wherein, the characteristic parameters include the precision angle of the solar panel drive mechanism, the preset speed command value, the temperature of the detection mechanism, the current component and the bearing temperature;

[0012] The fault level determination unit is used to determine the fault level of the solar panel drive mechanism based on the characteristic parameters.

[0013] The fault isolation method determination unit is used to formulate a fault isolation method corresponding to each of the fault levels.

[0014] Thirdly, embodiments of the present invention also provide a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the method described in any embodiment of this specification.

[0015] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the methods described in any embodiment of this specification.

[0016] This invention provides a method and apparatus for fault feature identification and isolation of a high-stability solar panel drive mechanism. By analyzing and processing the characteristic parameters of the high-stability solar panel drive mechanism, and further performing on-orbit fault diagnosis based on these parameters, the method confirms the fault isolation method for the drive mechanism corresponding to different fault levels based on the results. This solution can identify and isolate fault points in the solar panel drive mechanism in a timely and effective manner, thereby improving the safety and reliability of the solar panel drive mechanism. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a high-stability solar panel drive mechanism provided in an embodiment of the present invention;

[0019] Figure 2This is a flowchart of a method for identifying and isolating fault characteristics of a high-stability solar panel drive mechanism according to an embodiment of the present invention;

[0020] Figure 3 This is a structural diagram of a hierarchical fusion strategy for fault feature identification of a high-stability solar panel drive mechanism provided in an embodiment of the present invention;

[0021] Figure 4 This is a graph showing the Fast Fourier Transform (FFT) analysis results of rotational speed data of a high-stability solar panel drive mechanism provided in an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the topology of the switching circuit module in a fault identification and isolation method for a high-stability solar panel drive mechanism provided in an embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of a single-point fault of a relay contact in a switching circuit module provided by an embodiment of the present invention;

[0024] Figure 7 This is a hardware architecture diagram of a computing device provided in an embodiment of the present invention;

[0025] Figure 8 This is a structural diagram of a high-stability solar panel drive mechanism fault identification and isolation device provided in an embodiment of the present invention;

[0026] In the diagram, 001 is the drive output shaft, 002 is the permanent magnet synchronous motor, 003 is the rotary transformer, 004 is the ball bearing, 005 is the signal conductive ring, and 006 is the power conductive ring. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0028] The Solar Panel Actuation and Control (SADA) mechanism connects the solar panels to the satellite body, and stepper motors are commonly used in related technologies. Due to the stepping characteristics of stepper motors and the high flexibility, low damping, and variable parameter structure of solar panels, the SADA mechanism can cause multiple disturbances to the satellite's structure and attitude maintenance. The rotation of the solar panels driven by the SADA is the most significant factor causing disturbance in the satellite's Y-axis direction, adversely affecting the pointing accuracy and stability of the satellite's attitude.

[0029] Therefore, this invention first designs a highly stable solar panel drive mechanism, such as... Figure 1 As shown, the drive mechanism includes: a drive output shaft 001 and coaxially mounted permanent magnet synchronous motor 002, rotary transformer 003, and two ball bearings 004. The permanent magnet synchronous motor 002 is connected to the rotary transformer 002, which provides power to the solar panel drive mechanism. The rotary transformer 003 is used to detect the angle and position of the solar panel. The two ball bearings 004 are located on the upper and lower sides of the permanent magnet synchronous motor 002 and the rotary transformer 003, respectively, and are used to drive and support the solar panel. Furthermore, the drive mechanism also includes a signal conductive ring 005 and a power conductive ring 006. The signal conductive ring 005 and the power conductive ring 006 are located at one end of the drive output shaft 001, with the power conductive ring 006 perpendicular to the drive output shaft 001 and the signal conductive ring 005 parallel to the drive output shaft 001. The signal conductive ring and the power conductive ring are used to provide power and signal transmission to the satellite.

[0030] In this embodiment, a permanent magnet synchronous motor is used as the drive source for the solar panel drive mechanism. Its drive characteristics directly affect the drive stability and torque disturbance characteristics of the solar panel drive mechanism. Using a permanent magnet synchronous motor as the drive source can fundamentally eliminate the periodic stepping disturbances caused by the stepper motor's stepping drive. Combined with a closed-loop control method, high-performance speed control can be achieved.

[0031] To maximize the stability of the drive mechanism, a collaborative design of a permanent magnet synchronous motor (PMSM) and a high-precision rotary transformer (CVT) is adopted. Both the PMSM and the CVT employ the same pole pair design. In this embodiment, the PMSM uses a 32-pole pair design. The increased pole pair number facilitates low-speed, high-torque output. Simultaneously, to achieve ultra-low ripple torque, a concentrated winding and skewed slot design are used in the motor structure. On one hand, the concentrated winding effectively reduces the motor's torque fluctuation and shortens the motor's end length, increasing the motor's power density. On the other hand, the skewed slot further reduces the motor's torque fluctuation, significantly lowering the peak-to-peak value of the cogging torque, achieving an ultra-low ripple torque of less than 0.5% during drive. The motor windings employ a redundant backup design, with the main and backup windings sharing a magnetic circuit. The main and backup windings are wound in parallel, ensuring consistency in the main and backup characteristics. The high-precision CVT uses a dual-rotor structure, with one as the main CVT and one as the backup CVT. The CVT's pole pair number is the same as the PMSM, also employing 32 pole pairs. The decoded angle data is 21 bits, with an angular resolution of 0.618 arcseconds.

[0032] Based on the above-mentioned high-stability solar panel drive mechanism, please refer to... Figure 2This invention provides a method for identifying and isolating fault characteristics of a high-stability solar panel drive mechanism, the method comprising:

[0033] Step 100: Obtain the characteristic parameters of the solar panel drive mechanism; wherein, the characteristic parameters include the precision angle of the solar panel drive mechanism, the preset speed command value, the temperature of the detection mechanism, the current component and the bearing temperature;

[0034] Step 102: Determine the fault level of the solar panel drive mechanism based on the characteristic parameters;

[0035] Step 104: Based on each of the fault levels, determine the fault isolation method corresponding to each of the fault levels.

[0036] In this embodiment of the invention, the characteristic parameters of the high-stability solar panel drive mechanism are analyzed and processed, and various on-orbit fault diagnoses are performed based on these parameters. Finally, based on the results of different fault levels, the fault isolation methods for the drive mechanism corresponding to different fault levels are confirmed. In this way, fault points in the solar panel drive mechanism can be identified and isolated in a timely and effective manner, thereby improving the safety and reliability of the solar panel drive mechanism.

[0037] For step 100:

[0038] In this embodiment, based on the characteristics of the solar panel load and the high-stability solar panel drive mechanism, the on-orbit observable and obtainable quantities of the SADA are first determined to include: the precision angle of the drive mechanism, the preset speed command value, the current components (q-axis current and d-axis current) of the permanent magnet synchronous motor of the drive mechanism, the temperature of the drive mechanism, and the bearing temperature. The speed and average speed of the drive mechanism can be obtained through intermediate calculations using the precision angle and sampling period. These parameters are then used as the original parameters for identifying fault characteristics of the solar panel drive mechanism. The original parameters are then directly analyzed and identified to determine the operating pattern of the solar panel drive mechanism. This embodiment, through the analysis of the characteristic parameters of the solar panel drive mechanism itself, enables timely and effective identification and isolation of faults in the solar panel drive mechanism.

[0039] In some embodiments, the current component includes an excitation current component and a torque current component; wherein the excitation current component and the torque current component are calculated using the following formula:

[0040]

[0041] In the formula, i d Let i be the excitation current component. q Let θ be the torque current component. J Let i be the angle of the precision machine.A Let i be the A-phase current of the permanent magnet synchronous motor. B Let i be the B-phase current of the permanent magnet synchronous motor. C This represents the C-phase current of the permanent magnet synchronous motor.

[0042] In this embodiment, the current of the permanent magnet synchronous motor of the drive mechanism is sampled by a current sensor to obtain the A-phase current and C-phase current of the motor. Since the current of the permanent magnet synchronous motor detected is a three-phase current, it needs to be transformed as described above to obtain the excitation current component and torque current component of the motor in the rotating coordinate system for easy analysis.

[0043] In some embodiments, the characteristic parameters further include the rotational speed and average rotational speed of the solar panel drive mechanism; wherein the rotational speed and the average rotational speed are calculated using the following formulas:

[0044]

[0045]

[0046] In the formula, ω m (k) represents the rotational speed of the solar panel drive mechanism, θ J Let T be the angle of the precision machine, k be the sampling order of the rotary transformer, and T be the angle of the precision machine. s ω is the sampling period of the rotary transformer. avg (k) represents the average rotational speed of the solar panel drive mechanism, T c Let z be the smoothing period of the rotational speed, and z be the discrete differential operator.

[0047] For steps 102 to 104:

[0048] In this embodiment, based on the inherent characteristics of high-stability SADA, various input characteristic parameters are detected to perform on-orbit diagnosis of multiple faults or anomalies, thereby enabling the identification of fault characteristics and fault level classification of the drive mechanism. Since the drive mechanism itself diagnoses a wide variety of fault characteristics, some faults are not fatal, or may only serve as early warnings. Therefore, a fault isolation method is proposed based on the severity level of the fault.

[0049] In some implementations, a fault type identification method corresponding to the feature parameters is determined based on the type of the feature parameters.

[0050] Based on the fault type identification method, the fault type of the solar panel drive mechanism corresponding to each characteristic parameter is determined respectively;

[0051] Based on the fault type, the fault level of the solar panel drive mechanism is determined.

[0052] To identify fault characteristics of the solar panel drive mechanism, the acquired feature parameters need to be further processed. However, different features require different processing. Therefore, in this embodiment, the corresponding identification method is first selected based on the type of feature parameter to process it in order to diagnose and identify the fault of the drive mechanism. Finally, the fault level of the drive mechanism is determined based on the obtained fault type.

[0053] Specifically, such as Figure 3 As shown, based on the acquired feature parameters, the following types of fault characteristics are obtained in this embodiment:

[0054] (a) Angle abnormality

[0055] High-stability SADA uses a rotary transformer for angle measurement. As a key component for achieving high-stability drive control of solar panels, the failure of the rotary transformer must be strictly controlled. Anomalies in the rotary transformer's angle can be detected using its own characteristic data.

[0056] The fault identification method for abnormal angle is as follows: within the first preset diagnostic cycle (e.g., 1ms), the difference between the input precision machine angle and the previous precision machine angle is calculated, and the absolute value of the difference is obtained.

[0057] Determine if the value is greater than the first preset value (e.g., 0.32°). If it is, consider that a fault has occurred and increment the fault calculation by 1; otherwise, proceed directly to the next step.

[0058] Determine whether the fault count value has reached the first preset number (e.g., 100). If yes, it is considered that an angle abnormality fault has occurred; otherwise, it is considered that there is no angle abnormality fault. When the zeroing cycle of 1 second is reached, the fault count value needs to be cleared.

[0059] Such a failure generally indicates a serious hardware malfunction in the drive mechanism. This failure level is defined as L2, a relatively severe failure.

[0060] (b) Speed ​​control malfunction

[0061] High-stability SADA uses a permanent magnet synchronous motor to achieve closed-loop speed control, which requires high-precision sampling by the angle sensor and speed calculation. Speed ​​control is the key and core to achieving high-performance control of high-stability SADA. If the speed control is abnormal, the performance of the entire drive mechanism cannot be guaranteed.

[0062] The specific method for identifying abnormal speed control is as follows: within the second preset diagnostic cycle (e.g., 100ms), the difference between the acquired preset speed command value and the average speed value is calculated, and the absolute value of the difference is obtained.

[0063] Determine whether the absolute value is greater than the second preset value (e.g., 0.04° / s). If it is, then a fault is considered to have occurred, and the fault calculation is incremented by 1; otherwise, proceed directly to the next step.

[0064] Determine whether the fault count value has reached the second preset number (e.g., 300). If yes, it is considered that a speed control abnormality fault has occurred; otherwise, it is considered that there is no angle abnormality fault. When the zeroing cycle of 1 second is reached, the fault count value needs to be cleared.

[0065] When this type of fault occurs, it generally indicates that a general control abnormality has occurred in the drive mechanism. This fault level is defined as L3, a general fault.

[0066] (c) Overspeed fault

[0067] An important safety measure for high-stability SADA is that its operating speed must be limited. Excessive speed will endanger the functional safety of the entire satellite. Therefore, the diagnosis of overspeed faults must be timely and reliable.

[0068] The specific method for identifying overspeed faults is as follows: within the third preset diagnostic cycle (e.g., 100ms), determine whether the absolute value of the average rotational speed is greater than the third preset value (e.g., 2.0° / s). If so, it is considered that a fault has occurred, and the fault calculation is incremented by 1; otherwise, proceed directly to the next step.

[0069] Determine whether the fault count value has reached the third preset number (e.g., 60). If yes, it is considered that an overspeed fault has occurred; otherwise, it is considered that there is no overspeed fault. When the reset cycle of 1 second is reached, the fault count value needs to be reset to zero.

[0070] When this type of fault occurs, it generally indicates that a general control abnormality has occurred in the drive mechanism. This fault level is defined as L3, a general fault.

[0071] (d) Abnormal rotational speed and frequency

[0072] High-stability SADA achieves high-stability control of the solar panel, with a speed stability of less than 5% under cruising speed. The frequency components of the speed are relatively simple, and the first-order frequency of the driving state is the coupling between the control law and the first-order torsional frequency of the solar panel, which is low, generally below 2Hz.

[0073] The specific method for identifying abnormal rotational speed and frequency is as follows: use MATLAB to perform fast Fourier transform analysis on the rotational speed data to obtain the first-order frequency of the rotational speed;

[0074] Determine whether the first-order frequency is greater than 2Hz. If so, determine that the fault type is abnormal speed frequency and define the fault level corresponding to this fault type as L3.

[0075] In this embodiment, as Figure 4 As shown, considering the characteristics of the drive mechanism and the flexibility of the sail, and taking into account the fault margin, the speed stability under cruise speed control is defined as greater than 20%. Through speed FFT analysis, it is found that when the first-order frequency of the speed is greater than 2Hz, it is considered that the speed frequency fluctuation is abnormal.

[0076] When this type of fault occurs, it generally indicates that the product has experienced a general control abnormality. This fault level is defined as L3, a general fault.

[0077] (e) Overcurrent fault

[0078] During prolonged on-orbit operation of a high-stability SADA system, potential issues include increased friction in the drive mechanism and potential stalling due to hooking during ground testing. To prevent further damage to components after a fault occurs, it is necessary to perform diagnostics based on prolonged overcurrent at high speed. When the motor operates at its rated current for an extended period, both the motor body and the drive circuit power board will generate significant heat. A 30-second operation at rated current is within acceptable temperature limits. From the SADA operating conditions, it is unlikely that continuous operation near the rated torque current for 30 seconds will occur under normal circumstances. The normal operating torque current of the mechanism is around 0.5A, significantly lower than 2.0A, thus avoiding the misdiagnosis of a prolonged rated torque current output fault.

[0079] The specific method for identifying overcurrent faults is as follows: within the third preset diagnostic cycle (e.g., 1ms), determine whether the absolute value of the torque current in the current component is greater than the third preset value (e.g., 2.0A). If so, it is considered that a fault has occurred, and the fault calculation is incremented by 1; otherwise, proceed directly to the next step.

[0080] Determine whether the fault count value has reached the third preset number (e.g., 100). If yes, an overcurrent fault is considered to have occurred; otherwise, no overcurrent fault is considered to have occurred. When the reset cycle of 1 second is reached, the fault count value needs to be reset to zero.

[0081] Overcurrent faults are generally considered to fall into two categories: one is an increase in frictional resistance torque, which is defined as a more serious fault with a fault level of L2; the other is a hardware fault, which is also defined as a more serious fault with a fault level of L2.

[0082] (f) Abnormal temperature detection

[0083] High-stability SADA requires the detection of bearing temperature and housing temperature of the drive mechanism in order to diagnose fault characteristics of the mechanism's condition.

[0084] The specific method for identifying abnormal temperature detection is as follows: determine whether the acquired bearing temperature exceeds the first temperature limit (for example, 100℃). If it does, it is considered that an abnormal temperature detection has occurred; otherwise, it is considered that there is no abnormal temperature detection fault.

[0085] Temperature detection anomaly is a general fault. In this case, only the temperature telemetry is abnormal, and the function of the drive mechanism is not affected. The fault is defined as a general fault, and the fault level is L3.

[0086] (g) Abnormal temperature of the mechanism

[0087] The high-stability SADA continuously monitors the temperature of the drive mechanism. Under normal circumstances, the temperature of the drive mechanism changes relatively slowly. If a significant temperature change occurs, it is necessary to focus on the circuit conditions of the motor and power conductive ring inside the mechanism.

[0088] The specific method for identifying abnormal mechanism temperature is as follows: determine whether the acquired temperature of the detection mechanism exceeds the second temperature limit (for example, it can be 200℃). If it does, it is considered that an abnormal mechanism temperature fault has occurred; otherwise, it is considered that there is no abnormal mechanism temperature fault.

[0089] Such a fault is generally a serious fault, with a fault level of L1.

[0090] It should be noted that in this embodiment, the diagnostic cycle, preset value, and preset number of times can generally be set according to the characteristics of the actual drive mechanism.

[0091] In some preferred embodiments, the step of developing a fault isolation method corresponding to each fault type based on each fault level includes:

[0092] When the fault level is L1, ground handling shall be carried out immediately;

[0093] When the fault level is L2, the permanent magnet synchronous motor and the drive line are switched to backup using the switching circuit module.

[0094] When the fault level is L3, the control parameters are adjusted through the injection channel to achieve on-orbit maintenance.

[0095] In this embodiment, different fault isolation measures need to be formulated for fault levels L1, L2, and L3 of the solar panel drive mechanism. When the fault level is L1, it is generally considered a serious fault, requiring immediate handling. Furthermore, it is necessary to combine the on-orbit telemetry parameters of the drive mechanism to further determine whether a short circuit has occurred in the drive motor or power conductive ring. In this case, immediate special ground handling is required. When the fault level is L3, it is generally considered a general fault, which usually has little impact on the drive mechanism. On-orbit maintenance can generally be achieved by adjusting the control parameters through the injection channel. When the fault level is L2, it is generally considered a more serious hardware fault, requiring a master-slave switchover of the drive mechanism's hardware to ensure its normal operation.

[0096] In some embodiments, the drive circuit and permanent magnet synchronous motor winding of the solar panel drive mechanism are both dual-unit cold backups. The drive circuit and the permanent magnet synchronous motor winding are switched between primary and backup via a switching circuit module. The switching circuit module includes three magnetic latching relays respectively disposed on the primary drive board and the backup drive board. One end of each magnetic latching relay is connected to one phase of the permanent magnet synchronous motor winding, and the other end is connected to one phase of the drive circuit.

[0097] For the fault handling method of fault level L2, this embodiment designs the drive circuit of the solar panel drive mechanism and the permanent magnet synchronous motor winding as dual-unit cold backup. Since the motor winding and the rotary transformer are installed inside the drive mechanism, when the drive circuit switches between the main backup, the motor winding and the rotary transformer also switch at the same time.

[0098] like Figure 5 As shown, a switching circuit module is further designed between the drive circuit and the motor windings. Since the permanent magnet synchronous motor is a three-phase motor, the drive circuit is also a three-phase parallel circuit. The switching circuit module includes three magnetically latched relays respectively set on the main drive board and the backup drive board. One end of each magnetically latched relay is connected to one phase of the permanent magnet synchronous motor winding, and the other end is connected to one phase of the drive circuit. Each relay forms a series circuit with one phase of the permanent magnet synchronous motor winding and one phase of the drive circuit, and the three relays are connected in parallel. When the main drive is working, the relays will disconnect the backup circuit from the backup winding, and vice versa. In this way, the potential generated on the non-working backup winding due to the sharing of the motor magnetic circuit can be avoided from acting on the backup circuit, thus achieving fault isolation between the main and backup circuits.

[0099] The design of the switching circuit module should focus on the reliability of switching and the effectiveness of fault isolation. This can be analyzed from three aspects: relay contacts, relay coils, and relay drive circuits within the switching circuit module.

[0100] Relay contacts: For the connection of power drive circuits and motor windings, the relay contact aging modes include two cases: normally closed contacts and normally open contacts (i.e., the opening and closing of the relay contacts is not controlled by the relay coil, and the contacts maintain a connected state). For example, consider the case where a single relay contact cannot close, such as... Figure 6 In the diagram, if the C-phase relay of the main winding fails, phases A and B of the main winding can be connected to the bridge circuit through the closed contacts of the second and third relays, thus achieving normal drive control. Consider the case where a single relay contact fails to open; in this situation... Figure 6 The backup winding A-phase relay in the diagram shows a fault. At this time, the main circuit winding is operating, and the induced electromotive force in the backup winding generates approximately 10V on the DC side of the backup inverter. This voltage does not meet the operating requirements of the backup secondary power supply module, meaning the backup secondary power supply module will not operate. Since multiple relay faults are extremely rare, and ignoring multiple fault modes, the inability of a single relay contact to open will not adversely affect the operation of the drive circuit. Therefore, the failure of relay contacts in the switching circuit module will not affect the switching function.

[0101] Relay coil: Coil failure is mainly in the open circuit mode. The failure of any relay coil can be equivalent to a contact failure on a relay, which will not affect the switching function.

[0102] Relay drive circuit: Each group consists of 3 relay coils, driven by 2 parallel drive circuits. An open circuit in one drive circuit will not affect the switching function; only the drive current will be reduced to the first-level derating level (one drive circuit can provide 300mA of drive current, and a group of coils requires a rated current of 280mA). Considering the very limited number of times it might be used in the air, with each operation lasting only tens to hundreds of milliseconds, this failure mode will not affect the overall system.

[0103] The above analysis results show that the main backup circuit switching module designed in this embodiment of the invention has strong switching reliability and fault isolation effectiveness.

[0104] In summary, the permanent magnet synchronous motor windings in this embodiment of the invention employ a redundant backup design. The main and backup windings share a common magnetic circuit, and the main and backup windings are wound in parallel, achieving consistency in the characteristics of the main and backup windings. The rotary transformer adopts a dual-channel design for both main and backup windings, with complete isolation between the main and backup windings, ensuring maximum isolation of the angle measurement signals and improving the reliability of the drive device. By designing the switching circuit module and the corresponding drive circuit, complete isolation of the main and backup drive devices is achieved, enhancing the reliability of the drive mechanism.

[0105] The high-stability solar panel drive mechanism fault feature identification and isolation method proposed in this invention has been successfully applied in orbit and can be further extended to similar real-time fault protection applications with speed control.

[0106] like Figure 7 , Figure 8 As shown, this invention provides a fault characteristic identification and isolation device for a high-stability solar panel drive mechanism. The device can be implemented in software, hardware, or a combination of both. From a hardware perspective, as... Figure 7 The diagram shown is a hardware architecture diagram of a computing device for a high-stability solar panel drive mechanism fault feature identification and isolation device provided in an embodiment of the present invention. Besides... Figure 7 In addition to the processor, memory, network interface, and non-volatile memory shown, the computing device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing packets. Taking software implementation as an example, such as... Figure 8 As shown, a device in a logical sense is formed by the CPU of its computing device reading the corresponding computer program from the non-volatile memory into memory and running it. This embodiment provides a high-stability solar panel drive mechanism fault identification and isolation device, the device comprising:

[0107] The acquisition unit 801 is used to acquire characteristic parameters of the solar panel drive mechanism; wherein, the characteristic parameters include the precision angle of the solar panel drive mechanism, the preset speed command value, the temperature of the detection mechanism, the current component and the bearing temperature;

[0108] The fault level determination unit 802 is used to determine the fault level of the solar panel drive mechanism based on the characteristic parameters.

[0109] The fault isolation method determination unit 803 is used to determine a fault isolation method corresponding to each of the fault levels.

[0110] In one embodiment of the present invention, in the acquisition unit 801, the current component includes an excitation current component and a torque current component; wherein, the excitation current component and the torque current component are calculated by the following formula:

[0111]

[0112] In the formula, i d Let i be the excitation current component. q Let θ be the torque current component. J Let i be the angle of the precision machine. A Let i be the A-phase current of the permanent magnet synchronous motor. B Let i be the B-phase current of the permanent magnet synchronous motor. C This represents the C-phase current of the permanent magnet synchronous motor.

[0113] In one embodiment of the present invention, the characteristic parameters obtained in the acquisition unit 801 further include the rotational speed and average rotational speed of the solar panel drive mechanism; wherein, the rotational speed and the average rotational speed are calculated by the following formulas:

[0114]

[0115]

[0116] In the formula, ω m (k) represents the rotational speed of the solar panel drive mechanism, θ J Let T be the angle of the precision machine, k be the sampling order of the rotary transformer, and T be the angle of the precision machine. s ω is the sampling period of the rotary transformer. avg (k) represents the average rotational speed of the solar panel drive mechanism, T c This is the smoothing period of the rotational speed.

[0117] In one embodiment of the present invention, the fault level determination unit 802 is configured to perform the following operations:

[0118] Based on the types of the feature parameters, a fault type identification method corresponding to the feature parameters is determined;

[0119] Based on the fault type identification method, the fault type of the solar panel drive mechanism corresponding to each characteristic parameter is determined respectively;

[0120] Based on the fault type, the fault level of the solar panel drive mechanism is determined.

[0121] In one embodiment of the present invention, in the fault level determination unit 802, when the feature parameter is the precision machine angle, the fault type identification method is as follows: within a first preset diagnostic cycle, it is determined whether the absolute value of the difference between the current precision machine angle and the previous precision machine angle exceeds a first preset value and reaches a first preset number of times. If so, the fault type is determined to be an angle abnormality, and the fault level corresponding to the fault type is defined as L2.

[0122] When the characteristic parameters are a preset speed command value and an average speed, the fault type identification method is as follows: within the second preset diagnostic cycle, determine whether the absolute value of the difference between the preset speed command value and the average speed exceeds the second preset value for the second preset number of times. If so, determine that the fault type is speed control abnormality and define the fault level corresponding to the fault type as L3.

[0123] When the characteristic parameters are average speed and current component, the fault type identification method is as follows: within the third preset diagnostic cycle, determine whether the absolute value of the current average speed and torque current exceeds the third preset value more than the third preset number of times. If so, determine the fault type as overspeed fault and overcurrent fault respectively, and define the fault level corresponding to the overspeed fault type as L3 and the fault level corresponding to the overcurrent fault type as L2.

[0124] When the characteristic parameter is rotational speed, the fault type identification method is as follows: use MATLAB program to perform fast Fourier transform analysis on the rotational speed to obtain the first-order frequency of the rotational speed; determine whether the first-order frequency is greater than 2Hz; if so, determine that the fault type is abnormal rotational speed frequency, and define the fault level corresponding to this fault type as L3.

[0125] When the characteristic parameters are the temperature of the detection mechanism and the bearing temperature, the method for identifying the fault type is as follows: determine whether the temperature of the detection mechanism and the bearing temperature of the current drive mechanism exceed the first temperature limit and the second temperature limit respectively. If so, determine the fault type as temperature detection abnormality and mechanism temperature abnormality respectively, and define the fault level corresponding to the temperature detection abnormality type as L3 and the fault level corresponding to the mechanism temperature abnormality as L1.

[0126] In one embodiment of the present invention, the fault isolation method determination unit 803 is configured to perform the following operations:

[0127] When the fault level is L1, ground handling shall be carried out immediately;

[0128] When the fault level is L2, the permanent magnet synchronous motor and the drive line are switched to backup using the switching circuit module.

[0129] When the fault level is L3, the control parameters are adjusted through the injection channel to achieve on-orbit maintenance.

[0130] In one embodiment of the present invention, the drive circuit and the permanent magnet synchronous motor winding of the solar panel drive mechanism are both dual-unit cold backups. The drive circuit and the permanent magnet synchronous motor winding are switched between primary and backup via a switching circuit module. The switching circuit module includes three magnetic latching relays respectively disposed on the primary drive board and the backup drive board. One end of each magnetic latching relay is connected to one phase of the permanent magnet synchronous motor winding, and the other end is connected to one phase of the drive circuit.

[0131] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on a fault feature identification and isolation device for a high-stability solar panel drive mechanism. In other embodiments of the present invention, a fault feature identification and isolation device for a high-stability solar panel drive mechanism may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0132] The information interaction and execution process between the modules in the above-mentioned device are based on the same concept as the method embodiment of the present invention, and the specific details can be found in the description of the method embodiment of the present invention, and will not be repeated here.

[0133] This invention also provides a computing device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements a method for identifying and isolating fault characteristics of a high-stability solar panel drive mechanism according to any embodiment of this invention.

[0134] This invention also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program causes the processor to perform a method for identifying and isolating fault characteristics of a high-stability solar panel drive mechanism according to any embodiment of this invention.

[0135] Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage medium.

[0136] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of the present invention.

[0137] Examples of storage media used to provide program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0138] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0139] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.

[0140] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0141] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for fault feature identification and isolation of a high-stability solar panel drive mechanism, characterized in that, include: Obtain the characteristic parameters of the solar panel drive mechanism; wherein, the characteristic parameters include the precision angle of the solar panel drive mechanism, the preset speed command value, the temperature of the detection mechanism, the current component and the bearing temperature; Based on the types of the feature parameters, a fault type identification method corresponding to the feature parameters is determined; When the feature parameter is the precision machine angle, the fault type identification method is as follows: within the first preset diagnostic cycle, determine whether the absolute value of the difference between the current precision machine angle and the previous precision machine angle exceeds the first preset value and reaches the first preset number of times. If so, determine that the fault type is angle abnormality and define the fault level corresponding to the fault type as L2. When the characteristic parameters are a preset speed command value and an average speed, the fault type identification method is as follows: within the second preset diagnostic cycle, determine whether the absolute value of the difference between the preset speed command value and the average speed exceeds the second preset value for the second preset number of times. If so, determine that the fault type is speed control abnormality and define the fault level corresponding to the fault type as L3. When the characteristic parameters are average speed and current component, the fault type identification method is as follows: within the third preset diagnostic cycle, determine whether the absolute value of the current average speed and torque current exceeds the third preset value more than the third preset number of times. If so, determine the fault type as overspeed fault and overcurrent fault respectively, and define the fault level corresponding to the overspeed fault type as L3 and the fault level corresponding to the overcurrent fault type as L2. When the characteristic parameter is rotational speed, the fault type identification method is as follows: use a MATLAB program to perform a fast Fourier transform analysis on the rotational speed to obtain the first-order frequency of the rotational speed; determine whether the first-order frequency is greater than 2Hz; if so, determine that the fault type is abnormal rotational speed frequency, and define the fault level corresponding to this fault type as L3. When the characteristic parameters are the temperature of the detection mechanism and the bearing temperature, the method for identifying the fault type is as follows: determine whether the temperature of the detection mechanism and the bearing temperature of the current drive mechanism exceed the first temperature limit and the second temperature limit respectively. If so, determine the fault type as temperature detection abnormality and mechanism temperature abnormality respectively, and define the fault level corresponding to the temperature detection abnormality type as L3 and the fault level corresponding to the mechanism temperature abnormality as L1. Based on the fault type identification method, the fault type of the solar panel drive mechanism corresponding to each characteristic parameter is determined respectively; Based on the fault type, the fault level of the solar panel drive mechanism is determined; Based on each of the fault levels, a fault isolation method corresponding to each of the fault levels is determined; When the fault level is L1, ground handling shall be carried out immediately; When the fault level is L2, the permanent magnet synchronous motor windings and drive lines are switched to backup using the switching circuit module. When the fault level is L3, the control parameters are adjusted through the injection channel to achieve on-orbit maintenance.

2. The method according to claim 1, characterized in that, The current components include an excitation current component and a torque current component; wherein, the excitation current component and the torque current component are calculated using the following formulas: ， In the formula, The excitation current component is... The torque current component is... For the aforementioned precision machine angle, This refers to the A-phase current of the permanent magnet synchronous motor. This refers to the B-phase current of the permanent magnet synchronous motor. This represents the C-phase current of the permanent magnet synchronous motor.

3. The method according to claim 1, characterized in that, The characteristic parameters also include the rotational speed and average rotational speed of the solar panel drive mechanism; wherein the rotational speed and the average rotational speed are calculated by the following formulas: In the formula, The rotational speed of the solar panel drive mechanism. For the aforementioned precision machine angle, The sampling order for the angular position of the rotary transformer. The sampling period of the rotary transformer. The average rotational speed of the solar panel drive mechanism. This is the smoothing period of the rotational speed.

4. The method according to claim 1, characterized in that, Both the drive circuit and the permanent magnet synchronous motor winding are dual-unit cold backups. The drive circuit and the permanent magnet synchronous motor winding are switched between primary and backup via a switching circuit module. The switching circuit module includes three magnetic latching relays respectively installed on the primary drive board and the backup drive board. One end of each magnetic latching relay is connected to one phase of the permanent magnet synchronous motor winding, and the other end is connected to one phase of the drive circuit.

5. A fault characteristic identification and isolation device for a high-stability solar panel drive mechanism, used to implement the method as described in any one of claims 1 to 4, characterized in that, include: The acquisition unit is used to acquire the characteristic parameters of the solar panel drive mechanism; wherein, the characteristic parameters include the precision angle of the solar panel drive mechanism, the preset speed command value, and the current component of the permanent magnet synchronous motor. The fault level determination unit is used to determine the fault level of the solar panel drive mechanism based on the characteristic parameters. The fault isolation method determination unit is used to formulate a fault isolation method corresponding to each of the fault levels.

6. A computing device comprising a memory and a processor, wherein the memory stores a computer program, and the processor, when executing the computer program, implements the method as described in any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the method of any one of claims 1-4.

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