A large spacecraft multi-master node control method and system

Abstract

The present invention discloses a large-scale spacecraft multi-master control node control system and method. The system comprises: a spacecraft group, a mission planner, a global shared area, a plan executor, and a ground controller. The present invention realizes dynamic and flexible grouping of multiple compartments of a large-scale spacecraft by adopting a mission planner and multiple plan executors, a global shared area, and a ground controller, supports flexible and dynamic writing of spacecraft master control nodes, and automatic forwarding of control data, greatly reduces the workload of manual operation, and reduces the risk of manual operation errors.

Description

Technical Field

[0001] The present invention relates to the field of aerospace, and in particular to a large-scale spacecraft multi-master control node control method and system. Background Art

[0002] With the development of space missions, spacecraft are becoming multi-cabin and large-scale. The docking relationship and assembly status of the various cabins of the spacecraft can be constantly changed, or there are constantly external visiting spacecraft to dock, form an assembly and separate. The ground controller usually selects some cabins (one or more) as the master control node to control the entire spacecraft. The master control node is used to realize the assembly and transmission of ground commands or data of all cabins or some cabins of the entire spacecraft, and forwards them to other cabins (controlled nodes) through the spacecraft cabin corresponding to the master control node to implement ground control of different spacecraft cabins.

[0003] Common control modes for multi-cabin spacecraft or multiple spacecraft include no master control node, single master control node, multiple master control nodes, etc. The no master control node mode is suitable for multiple cabins of a spacecraft without strong correlation, and the ground implements a loosely coupled multi-spacecraft planning and control method; a single master control node is a relatively simple multi-cabin and multi-spacecraft control mode, which is suitable for a single master control node, and other cabins are collaboratively planned and controlled by a unique master control node. The multiple master control node mode is that the ground system implements the planning and control of different cabins of a large spacecraft through multiple different nodes. This mode can adapt to the switching control of the master control node, and the master control node is responsible for controlling the dynamic increase or decrease of spacecraft.

[0004] The existing methods for generating and controlling uplink data for multi-module spacecraft only provide control methods for transmitting instructions and injecting data in the case of a multi-spacecraft assembly, and there is no specific solution for how to switch between active nodes. Summary of the invention

[0005] The present invention provides a large-scale spacecraft multi-master control node control method and system, which are used to solve the problem that the prior art has not yet provided a specific solution to the master control node switching between multiple master control nodes of a large-scale spacecraft, spacecraft reconstruction, and spacecraft loading and unloading processes.

[0006] A large-scale spacecraft multi-master control node control system in the present invention comprises:

[0007] A spacecraft group, the spacecraft group includes a plurality of nodes; wherein, at least one master control node, and zero or at least one controlled node; the nodes are spacecraft or spacecraft compartments;

[0008] A mission planner, used to uniformly plan the master control nodes in multiple spacecraft groups and generate a master control node management plan; wherein the master control node management plan includes multiple management events of the master control node, each of which describes the master control node or the master control node switching time corresponding to the current moment;

[0009] A global shared area, used to store the master control node code of the spacecraft group to which the corresponding spacecraft belongs, wherein the master control node code is the identifier of the master control node in the spacecraft group; wherein each of the nodes corresponds to one global shared area;

[0010] A plan executor, used for executing the master control node management plan, maintaining the state of the global shared area and writing the master control node code corresponding to the node into the global shared area; wherein each of the nodes corresponds to a plan executor; wherein the plan executor of the master control node communicates with the plan executor of the controlled node; the plan executor of the controlled node is also used for obtaining the state of the global shared area of ​​the master control node and the master control node code;

[0011] A ground controller is used to generate and send control data to achieve control of the nodes, and to modify the master control node code in the global shared area within the spacecraft group to switch the master control node in the spacecraft group; wherein each of the nodes corresponds to a ground controller, the ground controller of the controlled node forwards the control data to the ground controller of the corresponding master control node, and the ground controller of the master control node sends the control data to the corresponding node.

[0012] Preferably, the control system is also used to establish corresponding plan executors, global shared areas and ground controllers for newly added nodes, initialize the global shared area, and write corresponding master node codes into the global shared area.

[0013] Preferably, the plan executor includes: a plan parsing module, an event execution module, and a multi-node checking module;

[0014] The plan parsing module is used to parse the master control node management plan;

[0015] The event execution module is used to jump to multiple management events of the master control node corresponding to the current moment, and obtain the master control node code and write it into the corresponding global shared area of ​​the spacecraft;

[0016] The multi-node checking module of the plan executor of the controlled node is used to communicate with the plan executor of the master control node to check whether the codes of the master control node are consistent.

[0017] Preferably, the ground controller includes: a main control identification module, a manual control module, and an automatic control module;

[0018] The master control identification module is used to identify and obtain the master control node code in real time;

[0019] The manual control module is used to set a manual control operation interface;

[0020] The automatic control module is used to switch the main control node according to the instruction plan.

[0021] A large spacecraft multi-master control node control method in the present invention comprises:

[0022] The plan executor of each node identifies the master control node code corresponding to the node according to the master control node management plan, and writes the master control node code into the global shared area of ​​the node; the nodes are grouped according to the master control node code written into the global shared area of ​​each node to form a spacecraft group; the node is a spacecraft or a spacecraft compartment;

[0023] Switching the master control node of the spacecraft group by modifying the master control node code of the global shared area of ​​the nodes in the spacecraft group;

[0024] The node reconstruction is achieved by adjusting the master node code of the global shared area of ​​nodes in multiple spacecraft groups.

[0025] Preferably, switching the master control node of the spacecraft group includes:

[0026] Manual switching and automatic switching; the manual switching is for the user to manually modify the master node code of the global shared area; the automatic switching is for the plan executor of each node to execute the master node management plan, perform the master node code write operation at the nominal time of the master node switching event, and modify the master node code of the global shared area corresponding to each node to the new master node code.

[0027] Preferably, the reconfiguration of nodes in a spacecraft group by adjusting the master control node code of a shared area of ​​multiple nodes in the spacecraft group includes:

[0028] The master control node code of the global shared area of ​​each node in the spacecraft group to be reconstructed is adjusted, and the master control node code of the spacecraft group to be reconstructed is modified to the master control node code of the newly constructed spacecraft group.

[0029] Preferably, the method further comprises:

[0030] When a node is separated from the spacecraft group, the plan executor of the node modifies the master control node code of the corresponding global shared area to the node code of the node, and the ground controller independently controls the node.

[0031] Preferably, when the spacecraft group is a large spacecraft and the node is a spacecraft cabin, the method further includes:

[0032] Expanding the spacecraft segments of the spacecraft group to assemble into a new spacecraft group;

[0033] When the spacecraft compartment of the spacecraft group is separated or the main control compartment of the spacecraft group changes, adjust the spacecraft group and the main control node

[0034] A computer-readable storage medium in the present invention stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of any of the methods described above.

[0035] The present invention realizes the planning of multiple master control nodes, automatic control of uplink data, multi-compartment grouping coordination and dynamic switching, supports the dynamic assembly and separation relationship description of multi-compartment spacecraft and the corresponding dynamic maintenance of nodes, realizes the automation of the multi-compartment spacecraft control process, and improves the efficiency of ground-based implementation of multi-compartment spacecraft control. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a structural diagram of a large spacecraft multi-master node control system in an embodiment of the present invention;

[0037] Figure 2 This is a diagram of a multi-master node group switching model in an embodiment of the present invention;

[0038] Figure 3 is a diagram of the large spacecraft node loading process in an embodiment of the present invention;

[0039] Figure 4 It is a diagram of the large spacecraft node unloading process in an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0041] It should be understood that in the various embodiments of this document, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this document.

[0042] The embodiment of the present invention provides a large spacecraft multi-master node control system, such as Figure 1 As shown, the system comprises:

[0043] A spacecraft group, wherein the spacecraft group includes a plurality of nodes; wherein, at least one master control node, and zero or at least one controlled node; the node is a spacecraft or a spacecraft compartment. Taking spacecraft group 1 as an example, the nodes include spacecraft A, spacecraft B and spacecraft C. Among them, spacecraft B is the master control node, and spacecraft A and spacecraft C are controlled nodes. In spacecraft group 2, spacecraft E is the master control node, and spacecraft D is the controlled node. In another preferred embodiment, there may be only one spacecraft in the spacecraft group, and the spacecraft serves as the master control node, and no controlled node is included in the spacecraft group. In another specific embodiment, when the spacecraft group is a large spacecraft, the node is a spacecraft compartment.

[0044] The task planner is used to make unified planning for the master control nodes in multiple spacecraft groups and generate a master control node management plan; wherein the master control node management plan includes multiple management events of the master control node, and each of the management events describes the master control node or the master control node switching time corresponding to the current moment. Specifically, there is usually only one task planner in a large spacecraft multi-master control node control system, which can communicate with all the plan executors in multiple spacecraft groups to achieve unified planning for the master control nodes in multiple spacecraft groups and generate a unique master control node management plan. The spacecraft group adopts a unified master control node management plan to ensure the consistency of the master control node maintenance of each spacecraft in the spacecraft group.

[0045] The global shared area is used to store the master control node code of the spacecraft group to which the corresponding spacecraft belongs. The master control node code is the identifier of the master control node in the spacecraft group. Each node corresponds to a global shared area. Specifically, each node is set with a global shared area. The ground controller of the spacecraft corresponding to the current node uses the global shared area to realize the sharing of global data. The global shared area stores the master control node code (Code) corresponding to the current node. The master control node code is as follows: Figure 1 The numbers in the code are 2.B and 2.E, which can be used to uniquely identify the master control node. Taking spacecraft group 1 as an example, 2.B is the master control node code of spacecraft group 1, so the global shared area of ​​spacecraft A, spacecraft B and spacecraft C in spacecraft group 1 stores 2.B.

[0046] A plan executor is used to execute the master control node management plan, maintain the state of the global shared area, and write the master control node code corresponding to the node into the global shared area; wherein each of the nodes corresponds to a plan executor; wherein the plan executor of the master control node communicates with the plan executor of the controlled node; the plan executor of the controlled node is also used to obtain the state of the global shared area of ​​the master control node and the master control node code. Specifically, each node is provided with a plan executor, which is responsible for parsing and executing the master control node management events in the master control node management plan, maintaining the global shared area state of the current node, and writing the master control node code (Code) corresponding to the node into the global shared area.

[0047] A ground controller is used to generate and send control data to realize control of the node, and to modify the master control node code of the global shared area in the spacecraft group to switch the master control node in the spacecraft group; wherein each of the nodes corresponds to a ground controller, and the ground controller of the controlled node forwards the control data to the ground controller of the corresponding master control node, and the ground controller of the master control node sends the control data to the corresponding node. Specifically, each node is provided with a ground controller, and the purpose of the ground controller is to realize the identification and use of the master control node, generate and send control data, and realize manual control and automatic control of the node. In a specific embodiment, during the ground control process of a large spacecraft, the combination relationship of spacecrafts in multiple cabins is constantly changing dynamically, the spacecraft grouping is constantly changing, and the master control node of the spacecraft also changes accordingly. Therefore, by modifying the master control node code of the global shared area of ​​the spacecraft in the spacecraft group, the master control node switching of the spacecraft group can be realized. When the control relationship of the on-orbit spacecraft changes, the ground controller needs to modify the master control node of the spacecraft group, and switch the master control node corresponding to the original spacecraft to the new spacecraft as the master control node. The multi-master node group switching model designed in the specific embodiment of the present invention adopts a multi-point collaborative master node code sharing method to describe the grouping relationship of multiple spacecraft, the master node switching process, and the dynamic loading and unloading rules of spacecraft, thereby realizing a flexible multi-master node control process. Figure 2 As shown, each spacecraft sets up a global shared area, and the master control node code (Code) of the spacecraft group is written into the global shared area, which is used to identify the master control node corresponding to the current spacecraft. The global shared areas of each spacecraft are relatively independent, and the relative relationship is identified by the consistency of the master control node code.

[0048] Through a large-scale spacecraft multi-master control node control system in a specific embodiment of the present invention, each node independently sets a global sharing area and sharing area management, the ground controller of the current node uses the global sharing area to realize the sharing of global data, and the global sharing area stores the master control node code corresponding to the current node, and the master control node code is used to uniquely identify the master control node. The control system adopts a multi-point collaborative master control node code sharing method to describe the grouping relationship of spacecraft or spacecraft cabins corresponding to multiple nodes, realize the automation of the control process of multiple groups of spacecraft or multiple cabins of spacecraft, and improve the efficiency of ground control of multiple groups of spacecraft or multiple cabins of spacecraft.

[0049] In the large spacecraft multi-master node control system described in the embodiment of the present invention, preferably, the ground controller includes: a master node controller and a controlled node controller; the controlled node controller is used to forward control data to the corresponding master node controller, and the master node controller sends the control data to the corresponding node. The ground controller in the embodiment of the present invention uses the master node controller to perform uplink control on the control data sent by the multiple spacecraft groups corresponding to the controlled nodes, so that the controlled nodes forward and send the control data through the master node.

[0050] In another preferred embodiment of the present invention, reconstruction of spacecraft can be achieved by adjusting the master control node codes of the global shared areas of spacecraft in multiple spacecraft groups. During the flight of a spacecraft, the combination relationship of the structure, communication, etc. of multiple spacecraft compartments changes, and reconstruction of the spacecraft is implemented to reconstruct multiple independently running spacecraft groups into a unified spacecraft assembly. The ground controller readjusts the grouping relationship of the spacecraft by modifying the master control node code of the global shared area, thereby achieving unified control of each spacecraft compartment by one master control node. The method for the ground controller to implement reconstruction of the spacecraft group is specifically as follows: the user operates the front-end control terminal to uniformly adjust the master control node code of the global shared area of ​​each spacecraft in each spacecraft group that needs to be reconstructed, and modifies the master control node code to the master control node code of the newly constructed spacecraft group. Figure 2 In the process, spacecraft group 1 and spacecraft group 2 are reconstructed, the master control node code written in the global shared area of ​​each spacecraft in spacecraft group 2 is replaced with Code-B, and each spacecraft in spacecraft group 1 and spacecraft group 2 is reconstructed into spacecraft group 3, and the master control node of the spacecraft in spacecraft group 3 is switched to spacecraft B.

[0051] During the flight control process of a large spacecraft, the cabin of the spacecraft is constantly expanding, and new spacecraft are added to form a new spacecraft group; at the same time, some spacecraft cabins are separated from the assembly and fly independently; the main control cabin of the spacecraft will also change, and the master control node of the ground controller needs to be adjusted accordingly. The above situations will cause changes in the spacecraft group and the switching of the master control node. The embodiment of the present invention designs a maintenance and switching process for multiple master control nodes of a large spacecraft, realizes dynamic adaptive loading or unloading of spacecraft nodes within the spacecraft group of the ground controller, supports dynamic switching of master control nodes during the process of loading and unloading spacecraft, and meets the requirement of uninterrupted uplink control data during the process of increasing and decreasing spacecraft nodes.

[0052] A large spacecraft multi-master node control system described in an embodiment of the present invention, preferably, the ground controller is also used to establish a corresponding plan executor, a global shared area and a ground controller for the newly added spacecraft, initialize the global shared area, and write the corresponding master node code to the global shared area.

[0053] The maintenance and switching process of multiple master control nodes for large spacecraft designed in the embodiment of the present invention can realize dynamic adaptive loading or unloading of spacecraft within a spacecraft group, support dynamic switching of master control nodes during spacecraft loading and unloading, and meet the requirement of uninterrupted uplink control data during the process of adding or reducing spacecraft or spacecraft modules.

[0054] In the large spacecraft multi-master node control system described in the embodiment of the present invention, preferably, the plan executor includes: a master node plan executor and a controlled node plan executor that communicate with each other; the controlled node plan executor is also used to obtain the state of the global shared area of ​​the master node and the master node code. Specifically, the controlled node plan executor is responsible for communicating with the master node plan executor, such as Figure 1 In the reference 5, the global shared area status of the master control node is obtained to check the consistency of the master control node code of the current spacecraft. If the master control node is found to be inconsistent, the master control node code of the global shared area of ​​the master control node is used as the master control node code corresponding to the spacecraft.

[0055] A large spacecraft multi-master node control system according to an embodiment of the present invention is preferably: Figure 1 As shown, the plan executor includes: a plan parsing module, an event execution module, and a multi-node inspection module;

[0056] The plan parsing module is used to parse the master control node management plan;

[0057] The event execution module is used to jump to multiple management events of the master control node corresponding to the current moment, and obtain the master control node code and write it into the global shared area of ​​the node;

[0058] The multi-node checking module of the controlled node plan executor is used to communicate with the plan executor of the master control node to check whether the master control node code is consistent.

[0059] A large spacecraft multi-master node control system according to an embodiment of the present invention is preferably: Figure 1 As shown, the ground controller includes: a main control identification module, a manual control module, and an automatic control module;

[0060] The master control identification module is used to identify and obtain the master control node code in real time;

[0061] The manual control module is used to set a manual control operation interface;

[0062] The automatic control module is used to switch the main control node according to the instruction plan.

[0063] There are two ways for the ground controller to adjust the master control node of the spacecraft group: manual switching and automatic switching. Manual switching is when the user operates the front-end control terminal to synchronously modify the master control node code of the global shared area of ​​each spacecraft in the spacecraft group to achieve the master control node switching of the entire spacecraft group. Automatic switching is when the executor of each spacecraft executes a unified master control node management plan, executes the master control node code writing operation at the nominal time of the master control node switching event, and modifies the master control node code of the global shared area corresponding to each spacecraft to the new master control node code; after the controlled node plan executor completes the writing, it performs a consistency check with the master control node plan executor to ensure that the master control nodes corresponding to each spacecraft in the spacecraft group are consistent. The manual control process is that the operator uses the manual control operation interface to select the control data to be sent and manually sends it out. The controlled node controller realizes the automatic setting of the master control node of the manual control operation interface, without manual setting and selection, reducing manual operation and the risk of manual operation errors; the automatic control process is the process in which the ground controller automatically sends control data according to the pre-arranged instruction plan. The controlled node controller automatically switches the master control node in the instruction plan according to the identified master control node, and forwards the control data to the master control node controller, eliminating manual operation and operation risks. Figure 2 In the process of master control node switching, the master control node code written in the global shared area of ​​each spacecraft in spacecraft group 1 is changed to Code-B, and the master control node of spacecraft group 1 is switched to spacecraft B; the master control node code written in the shared area of ​​each spacecraft in spacecraft group 2 is changed to Code-D, and the master control node of spacecraft group 2 is switched to spacecraft D.

[0064] The embodiment of the present invention further provides a large spacecraft multi-master control node control method, the method comprising:

[0065] The plan executor of each node identifies the master control node code corresponding to the node according to the master control node management plan, and writes the master control node code into the global shared area of ​​the node; the master control node code written into the global shared area of ​​each node is used to group the nodes and form a spacecraft group; the node is a spacecraft or a spacecraft compartment. Specifically, Figure 2 In the figure, the master control node codes written in the global shared areas of spacecraft A, B, and C are all Code-A, indicating that the ground control system groups spacecraft A, B, and C into a group: spacecraft group 1, and the master control node is spacecraft A; the master control node codes written in the shared areas of spacecraft D and E are all Code-E, indicating that the ground control system groups spacecraft D and E into a group: spacecraft group 2, and the master control node is spacecraft E.

[0066] By modifying the master control node code of the global shared area of ​​the nodes in the spacecraft group, the master control node of the spacecraft group is switched. When the control relationship of the on-orbit spacecraft changes, the ground control system needs to modify the master control node of the spacecraft group, switching the master control node corresponding to the original spacecraft to the new spacecraft as the master control node.

[0067] The node reconstruction is achieved by adjusting the master node code of the global shared area of ​​the nodes in multiple spacecraft groups. Specifically, during the flight of the spacecraft, the combination relationship of the structure and communication of multiple spacecraft compartments changes, and the reconstruction of the spacecraft is implemented, and multiple independently operated spacecraft groups are reconstructed into a unified spacecraft combination.

[0068] Preferably, the master control node for switching the spacecraft group includes:

[0069] Manual switching and automatic switching; the manual switching is for the user to manually modify the master node code of the global shared area; the automatic switching is for the plan executor of each node to execute the master node management plan, perform the master node code writing operation at the nominal time of the master node switching event, and modify the master node code of the global shared area corresponding to each node to the new master node code. After the plan executor of the controlled node is written, a consistency check is performed with the plan executor of the master node to ensure that the master nodes corresponding to each spacecraft in the spacecraft group are consistent. Figure 2 The switching of the master control node is shown in the figure: the master control node code written in the global shared area of ​​each spacecraft in spacecraft group 1 is changed to Code-B, and the master control node of spacecraft group 1 is switched to spacecraft B; the master control node code written in the global shared area of ​​each spacecraft in spacecraft group 2 is changed to Code-D, and the master control node of spacecraft group 2 is switched to spacecraft D.

[0070] Preferably, the reconstruction of nodes in a spacecraft group is achieved by adjusting the master control node codes in the shared areas of the nodes in multiple spacecraft groups, including: adjusting the master control node codes in the global shared areas of each node in the spacecraft group to be reconstructed, and modifying the master control node codes of the spacecraft group to be reconstructed to the master control node codes of the newly constructed spacecraft group. Specifically, by modifying the master control node codes in the global shared area, the grouping relationship of the spacecraft is readjusted to achieve unified control of each spacecraft or spacecraft compartment by one master control node. Method for realizing the reconstruction of a spacecraft group: The user operates the front-end control terminal to uniformly adjust the master control node codes in the global shared areas of each spacecraft in each spacecraft group to be reconstructed, and modify the master control node codes to the master control node codes of the newly constructed spacecraft group. Figure 2 In the process, the spacecraft is reconstructed: spacecraft group 1 and spacecraft group 2 are reconstructed, the master control node code written in the global shared area of ​​each spacecraft in spacecraft group 2 is replaced with Code-B, and each spacecraft in spacecraft group 1 and spacecraft group 2 is reconstructed into spacecraft group 3, and the master control node of the spacecraft in spacecraft group 3 is switched to spacecraft B.

[0071] Preferably, the method further includes: when a node is separated from the spacecraft group, the plan executor of the node modifies the master node code of the corresponding global shared area to the node code of the node, and the ground controller independently controls the node. During the flight of the spacecraft, some spacecraft are separated from the spacecraft group, and the ground control system independently controls the separated spacecraft and no longer implements uplink control through the original master control node. After the classification of some spacecraft, the plan executor of the separated spacecraft modifies the master node code of the global shared area to the node code of the spacecraft, indicating that the separated spacecraft is independent from the original spacecraft group and is no longer controlled online through the master control node of the original spacecraft group. The separated spacecraft is independently controlled by itself. Figure 2 In the process, the spacecraft is separated: the master control node code written in the global shared area of ​​spacecraft E is replaced with the node code of this spacecraft (Code-E), spacecraft group 3 no longer contains spacecraft E, and switches to the new spacecraft group 4. The ground control system no longer implements uplink control of spacecraft E through master control node B, and independently implements direct control of spacecraft E.

[0072] In a preferred embodiment, when the spacecraft group is a large spacecraft and the node is a spacecraft cabin, the method further includes: expanding the spacecraft cabin of the spacecraft group to assemble a new spacecraft group; and adjusting the spacecraft group and the main control node when the spacecraft cabin of the spacecraft group is separated or the main control cabin of the spacecraft group changes. Figure 1As shown, the ground controller uses multiple master control nodes to support the uplink control of multiple spacecraft groups, so that the controlled nodes forward and send control data through the master control nodes. During the flight control process of a large spacecraft, the spacecraft compartments are constantly expanded, and new spacecraft compartments are added to assemble into a new spacecraft group; at the same time, some spacecraft compartments are separated from the assembly and fly independently; the main control compartment of the spacecraft will also change, and the master control node needs to be adjusted accordingly. The above situations will cause changes in the spacecraft group and the switching of the master control nodes. The present invention designs a maintenance and switching process for multiple master control nodes of large spacecraft, realizes the dynamic adaptive loading or unloading of spacecraft nodes in the spacecraft group of the ground control system, supports the dynamic switching of master control nodes during the loading and unloading of spacecraft or spacecraft compartments, and meets the requirement of uninterrupted uplink control data during the process of adding and reducing nodes.

[0073] Specifically, the embodiment of the present invention adopts a multi-master node group switching model. Based on the low coupling of the global shared area of ​​multiple spacecraft, the increase or decrease of spacecraft nodes in a single spacecraft group will not affect the uplink control process of other spacecraft groups. The following takes one of the spacecraft groups as an example to illustrate the spacecraft loading and master node switching process. Figure 3 The process of loading a new spacecraft F into the spacecraft group is described.

[0074] 1. The ground controller establishes the plan executor, global shared area and ground controller corresponding to the newly added spacecraft (spacecraft F), completes the initialization of the global shared area, and writes the master control node code as the newly added spacecraft code (Code-F) in the global shared area.

[0075] 2. The user sends a control command to the ground controller to load the newly added spacecraft into the selected spacecraft group (the newly added spacecraft and the selected spacecraft group are manually determined by the user), and establishes data communication between the node corresponding to the newly added spacecraft and the existing spacecraft group, including: sending the main control node management plan to the newly added node, establishing communication between the plan executor of the newly added node and the plan executor of the main control node, and establishing data forwarding communication between the ground controller of the newly added node and the ground controller of the main control node.

[0076] 3. Synchronize the status of the master node with the newly added node. The plan executor of the newly added node receives the management plan of the master node ( Figure 3 After the winning number 1), the plan parsing module immediately parses the plan; the event execution module jumps to the event corresponding to the current moment, obtains the current master node code, and writes it to the global shared area of ​​this node; the multi-node check module communicates with the plan executor of the master node to check the consistency of the master node code.

[0077] 4. The ground controller of the newly added node starts the data forwarding communication of the master control node. When the master control node code of the global shared area changes, the master control identification module of the ground controller of the newly added node recognizes and obtains the new master control node code in real time, notifies the manual control module and the automatic control module to switch to the new master control node; the manual control module sets the manual control operation interface to the new master control node; the automatic control module automatically implements the switching of the master control node in the instruction plan, and switches the master control node identifier in the instruction plan to the new master control node code.

[0078] 5. The ground controller of the newly added node implements uplink control data transmission through the main control node. The ground controller of the newly added node forwards the control data (3.F) to the ground controller of the main control node, and the ground controller of the main control node sends it to the main control node (spacecraft E), and the main control node forwards the control data to the newly added node (spacecraft F).

[0079] The following uses a spacecraft group as an example to explain the node unloading and master node switching process. Figure 4 The process of unloading spacecraft A is described.

[0080] 1. The ground controller switches the master control node of the node to be unloaded (spacecraft A). The user sets the master control node code of the global shared area of ​​the node to be unloaded as the node code (Code-A).

[0081] 2. The node to be unloaded interrupts communication with the original master control node. The plan executor of the node to be unloaded recognizes that the master control node code in the global shared area has changed to the code of the spacecraft, and interrupts communication with the original master control node; the ground controller of the node to be unloaded recognizes in real time that the master control node code in the global shared area has changed to the code of the spacecraft, and no longer forwards control data to the original master control node.

[0082] 3. The node to be unloaded is restored to independent control and directly sends control data. The ground controller uses the single spacecraft mission planner to output the main control node management plan ( Figure 4 In the bid number 1), the master control node management plan identifies the node of this spacecraft as the master control node, and does not arrange the event of switching the master control node; the plan executor executes the master control node management plan, and maintains the master control node in the global shared area as the code of this spacecraft; the ground controller notifies the manual control module and the automatic control module to switch the spacecraft to the master control node; the manual control module sets the manual control operation interface to the node of this spacecraft; the automatic control module automatically implements the switching of the master control node in the instruction plan, and switches the master control node identification in the instruction plan to the code of this spacecraft; the ground controller directly sends control data to this spacecraft (spacecraft A).

[0083] 4. Spacecraft unloading is completed. After the unloaded spacecraft is restored to independent control, the original master control node does not need to perform any configuration and automatically completes the unloading of the spacecraft from the existing spacecraft group.

[0084] A specific embodiment of the present invention further provides a computer-readable storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the steps of the method described in any one of the above embodiments.

[0085] The embodiments of the present invention have the following beneficial effects:

[0086] (1) A multi-master control node control system architecture was designed. By using a mission planner and multiple plan executors, a global shared area, and a ground controller, dynamic and flexible grouping of multiple modules of a large spacecraft was achieved, supporting flexible and dynamic writing of spacecraft master control nodes and automatic forwarding of control data, greatly reducing the workload of manual operations and the risk of manual operation errors.

[0087] (2) By adopting a multi-master control node group switching model, low-coupling state management of multiple master control nodes is achieved. Through distributed global identification, ground system control of master control node switching, spacecraft reconstruction, and spacecraft loading and unloading is flexibly realized.

[0088] (3) By designing and implementing the maintenance and switching process of multiple master control nodes for large spacecraft, the ground controller can realize dynamic adaptive loading or unloading of spacecraft within the spacecraft group, support dynamic switching of master control nodes during the loading and unloading process of spacecraft, and meet the requirement of uninterrupted uplink control data during the process of adding and reducing spacecraft nodes.

[0089] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0090] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1A device that provides the functions specified in a block or multiple blocks.

[0091] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0092] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0093] The foregoing description of specific exemplary embodiments of the present invention is for the purpose of illustration and demonstration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is clear that many changes and variations can be made based on the above teachings. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can realize and utilize various different exemplary embodiments of the present invention and various different selections and changes. The scope of the present invention is intended to be limited by the claims and their equivalents.

Claims

1. A large spacecraft multi-master node control system, characterized in that: The system comprises: A spacecraft group, the spacecraft group includes a plurality of nodes; wherein, at least one master control node, and zero or at least one controlled node; the nodes are spacecraft or spacecraft compartments; A mission planner, used to uniformly plan the master control nodes in multiple spacecraft groups and generate a master control node management plan; wherein the master control node management plan includes multiple management events of the master control node, each of which describes the master control node or the master control node switching time corresponding to the current moment; A global shared area, used to store the master control node code of the spacecraft group to which the corresponding spacecraft belongs, wherein the master control node code is the identifier of the master control node in the spacecraft group; wherein each of the nodes corresponds to one global shared area; A plan executor is used to execute the master control node management plan, maintain the state of the global shared area, and write the master control node code corresponding to the node into the global shared area; wherein each of the nodes corresponds to a plan executor; wherein the plan executor of the master control node communicates with the plan executor of the controlled node; the plan executor of the controlled node is also used to obtain the state of the global shared area of ​​the master control node and the master control node code; the plan executor includes: a plan parsing module, an event execution module, and a multi-node inspection module; The plan parsing module is used to parse the master control node management plan; The event execution module is used to jump to multiple management events of the master control node corresponding to the current moment, and obtain the master control node code and write it into the global shared area of ​​the corresponding node; The multi-node check module of the plan executor of the controlled node is used to communicate with the plan executor of the master control node to check whether the master control node code is consistent A ground controller, used for generating and sending control data to realize control of the node, and modifying the master control node code of the global shared area in the spacecraft group to switch the master control node in the spacecraft group; wherein each of the nodes corresponds to a ground controller, the ground controller of the controlled node forwards the control data to the ground controller of the corresponding master control node, and the ground controller of the master control node sends the control data to the corresponding node; The control system is also used to establish corresponding plan executors, global shared areas and ground controllers for newly added nodes, initialize the global shared area, and write corresponding master control node codes into the global shared area.

2. A large spacecraft multi-master node control system according to claim 1, characterized in that: The ground controller includes: a main control identification module, a manual control module, and an automatic control module; The master control identification module is used to identify and obtain the master control node code in real time; The manual control module is used to set a manual control operation interface; The automatic control module is used to switch the main control node according to the instruction plan.

3. A control method for a large spacecraft multi-master node control system as claimed in claim 1 or 2, characterized in that: The control method comprises: The plan executor of each node identifies the master control node code corresponding to the node according to the master control node management plan, and writes the master control node code into the global shared area of ​​the node; the nodes are grouped according to the master control node code written into the global shared area of ​​each node to form a spacecraft group; the node is a spacecraft or a spacecraft compartment; Switching the master control node of the spacecraft group by modifying the master control node code of the global shared area of ​​the nodes in the spacecraft group; Reconstruction of nodes is achieved by adjusting the master control node codes of the global shared areas of the nodes in multiple spacecraft groups; wherein: the master control node code of the global shared area of ​​each node in the spacecraft group to be reconstructed is adjusted, and the master control node code of the spacecraft group to be reconstructed is modified to the master control node code of the newly constructed spacecraft group; When a node is separated from the spacecraft group, the plan executor of the node modifies the master control node code of the corresponding global shared area to the node code of the node, and the ground controller independently controls the node.

4. A large spacecraft multi-master control node control method according to claim 3, characterized in that: The master control nodes for switching spacecraft groups include: Manual switching and automatic switching; the manual switching is for the user to manually modify the master node code of the global shared area; the automatic switching is for the plan executor of each node to execute the master node management plan, perform the master node code write operation at the nominal time of the master node switching event, and modify the master node code of the global shared area corresponding to each node to the new master node code.

5. A large spacecraft multi-master control node control method according to claim 3, characterized in that: When the spacecraft group is a large spacecraft and the node is a spacecraft cabin, the method further includes: expanding the spacecraft segments of the spacecraft group to assemble into a new spacecraft group; When the spacecraft compartment of the spacecraft group is separated or the main control compartment of the spacecraft group is changed, the spacecraft group and the main control node are adjusted.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of any one of claims 3-5.

Images