A method and system for identifying attitude faults of a four-ring space stabilization system

Abstract

The present invention relates to the technical field of inertial navigation systems, and provides a method and system for identifying attitude faults of a four-ring space stabilization system, the method comprising: establishing an attitude fault tree according to an attitude system solution process; obtaining the induction synchronizer state curve compensation angle measurement loop gain according to the signal coupling value output in real time by the coarse pole induction synchronizer and the fine pole induction synchronizer and the coarse and fine coupling table, and completing the identification of the angle measurement fault of the angle measurement system; confirming the correctness of the shell rollover in the first N cycles, estimating the subsequent shell rollover mean through linear fitting, and judging the credibility of the subsequent shell rollover mean, and completing the identification of the gyro shell rollover fault. The method solves the problem of whether the frame angle reading is abnormal and whether it is normal based on the first N effective values ​​of the items when there are no welding conditions and professionals in the field, and overcomes the disadvantage that the huge amount of data after the system has been running for a long time leads to difficulty in inspection.

Description

Technical Field

[0001] The present invention relates to the technical field of inertial navigation systems, and in particular to a method and system for identifying attitude faults of a four-ring space stabilization system. Background Art

[0002] For the four-ring space stabilization system, after adopting the gyro shell roll modulation technology, the calculation of the attitude angle becomes more complicated, and it is necessary to establish a b system → p system → The coordinate transformation matrices between the system → e system → n system, that is , , , To get the posture matrix .in, Solving the matrix differential equation, The rest of the coordinate transformation matrix is ​​defined by the rotation angle between adjacent coordinate systems. Since there is no attitude standard for the carrier ship in motion and the calculation involves complex factors, the attitude system was not monitored when the system was designed. Therefore, the error of the attitude system is hidden and lagging, and the error position cannot be located in a short time, which affects the progress of the field experiment. In addition, the four-ring space stabilization system generates a huge amount of data after long-term operation, which makes it difficult to manually troubleshoot. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides a posture fault identification method and system for a four-ring space stabilization system, which solves the problem of quickly and conveniently detecting whether the frame angle reading is abnormal when there are no welding conditions and professionals in the field, and judging whether the rollover of any shell in a T-minute period is normal based on the first N effective values, realizing the prediction of the period mean, and overcoming the disadvantage that the huge amount of data after the system has been running for a long time leads to difficulty in inspection.

[0004] The present invention provides a method for identifying attitude faults of a four-ring space stabilization system, comprising:

[0005] S1: According to the attitude system solution process, obtain the parameter factors affecting the attitude calculation;

[0006] S2: Establish the attitude fault tree according to the parameter factors affecting the attitude calculation;

[0007] S3: Analyze system failure factors according to the attitude fault tree to obtain attitude failure, where the attitude failure includes an angle measurement system angle measurement failure and a gyro housing rollover failure;

[0008] S4: Obtain the induction synchronizer state curve according to the signal coupling values ​​output in real time by the coarse pole induction synchronizer and the fine pole induction synchronizer and the coarse and fine coupling table; compensate the angle measurement loop gain according to the induction synchronizer state curve to complete the identification of the angle measurement system angle measurement fault;

[0009] S5: Confirm the correctness of the shell rollover in the first N weeks, estimate the mean of subsequent shell rollovers through linear fitting, and determine the credibility of the mean of subsequent shell rollovers to complete the identification of the gyroscope shell rollover fault.

[0010] According to a posture fault identification method of a four-ring space stabilization system provided by the present invention, the parameter factors affecting the posture calculation are the frame rotation angle measured by the induction synchronizer and the gyroscope housing roll angle.

[0011] According to a posture fault identification method for a four-ring space stabilization system provided by the present invention, the angle measurement system angle measurement fault includes an induction synchronizer body fault and an induction synchronizer output signal differential amplification change; the gyroscope shell rollover fault includes a shell roll encoder fault and a shell roll motor fault.

[0012] According to a method for identifying attitude faults of a four-ring space stabilization system provided by the present invention, the step S4 includes:

[0013] S41: Rotate the frame angle and record the original value of the induction synchronizer output to obtain the coarse and fine coupling table;

[0014] S42: synchronously read the output values ​​of the current coarse-pole induction synchronizer and the fine-pole induction synchronizer at a fixed frequency, and store the encoding values ​​of the coarse-pole induction synchronizer output at the end and the beginning of the fine-pole cycle for a total of 360 times. Each time the frame rotates 360 degrees, a group of 360 arrays is obtained. After n rotations, n groups of arrays are obtained. After calculating their average values, they are subtracted from the coarse-fine coupling table to obtain the induction synchronizer state curve;

[0015] S43: Compensate the induction synchronizer state curve through the angle measurement loop gain circuit.

[0016] According to a posture fault identification method for a four-ring space stabilization system provided by the present invention, the method also includes that during the frame rotation process, the coarse-pole induction synchronizer and the fine-pole induction synchronizer simultaneously rotate to the same angle value, each time the fine-pole induction synchronizer passes through zero, it means that the frame rotates 1°, the fine-pole induction synchronizer passes through zero 360 times when the frame rotates 360°, the values ​​of the coarse-pole induction synchronizer when all the fine-pole induction synchronizers pass through zero are recorded to obtain a set of table values, which are arranged point by point from small to large to obtain a coarse-fine coupling table, and the system searches for the corresponding interval in the coarse-fine coupling table based on the signal coupling values ​​output in real time by the coarse-pole induction synchronizer and the fine-pole induction synchronizer to obtain the real-time angle value of the frame.

[0017] According to a method for identifying posture faults of a four-ring space stabilization system provided by the present invention, the step S5 includes:

[0018] S51: Divide the shell rollover value data into a group every T minutes and calculate the mean of each group , get the mean array;

[0019] S52: Draw a curve based on the data of the shell rolling over in the previous N weeks, confirm the correctness of the data of the shell rolling over in the previous N weeks based on the curve and obtain the inflection point;

[0020] S53: performing a linear fit on the mean array of the N+1th group, obtaining an estimated value of the mean array through the fitting, and obtaining a difference array by subtracting the mean array from the estimated value of the mean array;

[0021] S54: Calculate the difference array of the average array of the previous N weeks;

[0022] S55: calculating the standard deviation of the difference array, and judging the credibility of the shell rollover value according to the standard deviation of the difference array;

[0023] S56: Repeat the above process to complete the determination of all shell rollover value data.

[0024] According to a method for identifying attitude faults of a four-ring space stabilization system provided by the present invention, the method further comprises solving the first The univariate linear regression model corresponding to the group mean array ,get and The value of , is the independent variable, , is the predicted value of the mean array, is the mean array, , is the linear coefficient, is the constant term coefficient, and Make the mean to The sum of squares of the differences between the predicted values ​​calculated by the univariate linear regression model is the smallest, and the to The predicted value at to as well as to The difference between the predicted value calculated by the univariate linear regression model to .

[0025] According to a method for identifying attitude faults of a four-ring space stabilization system provided by the present invention, the method further comprises calculating the difference in step S55. to Standard Deviation , when the mean In the range When , it is considered that the rollover value of the mth group of shells can be trusted, otherwise it is considered that there is a rollover abnormality during the rollover of the mth group of shells.

[0026] According to a posture fault identification method for a four-ring space stabilization system provided by the present invention, it also includes performing discrete data derivation on the mth group of shell roll values, finding the inflection point position, and comparing it with the inflection point position of the first N groups of data. If the inflection point positions coincide, it is considered that there is no abnormal inflection point, otherwise there is an abnormal inflection point.

[0027] A posture fault recognition system for a four-ring space stabilization system, used to execute any one of the posture fault recognition methods for a four-ring space stabilization system, comprising:

[0028] An attitude system solving module, wherein the attitude system solving module is used to obtain parameter factors affecting attitude calculation according to an attitude system solving process;

[0029] A posture fault tree establishment module, wherein the posture fault tree establishment module is used to establish a posture fault tree according to parameter factors affecting posture calculation;

[0030] A fault factor analysis module, wherein the fault factor analysis module is used to analyze system fault factors according to the attitude fault tree to obtain attitude faults, wherein the attitude faults include an angle measurement system angle measurement fault and a gyro housing rollover fault;

[0031] An angle measurement system angle measurement fault identification module, the angle measurement system angle measurement fault identification module is used to obtain the induction synchronizer state curve according to the signal coupling value output in real time by the coarse pole induction synchronizer and the fine pole induction synchronizer and the coarse and fine coupling table; compensate the angle measurement loop gain according to the induction synchronizer state curve to complete the identification of the angle measurement system angle measurement fault;

[0032] The gyroscope shell rollover fault identification module is used to confirm the correctness of the shell rollover in the previous N weeks, estimate the subsequent shell rollover mean through linear fitting, and judge the credibility of the subsequent shell rollover mean to complete the identification of the gyroscope shell rollover fault.

[0033] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0034] The present invention provides a method and system for identifying attitude faults of a four-ring space stabilization system. A fault tree is established through an attitude solution process. The original value of the induction synchronizer output is recorded and averaged by manually rotating the frame angle. The cause of the angle measurement system fault is confirmed based on the difference between the recorded average value and the original coarse-fine coupling table. The same method is used to confirm whether the angle measurement system fault elimination is effective. Then, by confirming the correctness of the shell rollover in the first N cycles, the linear fitting is used to estimate and evaluate whether the subsequent shell rollover mean is credible to determine the cause of the fault. The method solves the problem of whether the frame angle reading is abnormal and whether it is fast and convenient to detect whether the frame angle reading is abnormal in the absence of welding conditions and professionals in the field. The method determines whether the rollover of any shell in a T-minute period is normal based on the first N effective values. The prediction of the period mean is realized, and the disadvantage of the huge amount of data causing difficulty in inspection after the system has been running for a long time is overcome.

[0035] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 It is a flow chart of a posture fault identification method of a four-ring space stabilization system provided by the present invention.

[0038] Figure 2 It is a posture fault tree diagram of a posture fault identification method of a four-ring space stabilization system provided by the present invention.

[0039] Figure 3 The present invention provides a structural block diagram of a posture fault identification system for a four-ring space stabilization system.

[0040] Reference numerals:

[0041] 101. Attitude system solving module; 102. Attitude fault tree building module; 103. Fault factor analysis module; 104. Angle measurement system angle measurement fault identification module; 105. Gyro shell rollover fault identification module. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme in the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0043] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0044] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0045] Combine the following Figures 1 to 3 The present invention describes a method and system for identifying attitude faults of a four-ring space stabilization system.

[0046] like Figure 1 As shown, a method for identifying attitude faults of a four-ring space stabilization system includes:

[0047] S1: According to the attitude system solution process, obtain the parameter factors affecting the attitude calculation;

[0048] The system attitude matrix can be decomposed into:

[0049]

[0050] in, is the system attitude matrix, is the transformation matrix from the earth coordinate system e to the navigation coordinate system n (northeast celestial coordinate system), is the platform coordinate system after modulation averaging The transformation matrix from the Earth coordinate system to the Earth coordinate system e, is the platform coordinate system after modulation averaging The transformation matrix from the system to the actual platform coordinate system p, is the transformation matrix from the vehicle coordinate system b to the platform coordinate system p;

[0051] The calculation expression is:

[0052]

[0053] in, is the difference between the local longitude and the longitude of the initial position, and L is the local latitude.

[0054] It can be calculated based on the gyro drift angular velocity and the initial misalignment angle of the system. An accurate estimate can be made during the initial alignment and calibration of the system, so there will be no errors in the attitude matrix calculation.

[0055] Calculated from the shell roll misalignment angle;

[0056] The calculation expression is:

[0057]

[0058] in, is the rotation angle of the platform outer ring axis to the outer ring, The middle ring axis is relative to the middle ring. is the rotation angle of the inner ring axis to the inner ring, is the rotation angle of the platform axis relative to the base, and in low and medium latitudes, the outer ring axis follows the rotation angle of the inner ring axis so that , Can be simplified to:

[0059]

[0060] Therefore, the parameter factors that affect the calculation of the attitude matrix are the frame rotation angle measured by the inductive synchronizer and the gyroscope housing roll angle.

[0061] S2: Establish an attitude fault tree based on the parameter factors that affect attitude calculation; the constructed attitude fault tree is as follows Figure 2 shown.

[0062] Attitude failures include angle measurement system angle measurement failure and gyro housing rollover failure.

[0063] The angle measurement system angle measurement failures include induction synchronizer body failure, induction synchronizer output signal differential amplification change, excitation failure and amplitude detection circuit failure.

[0064] Gyro shell roll failure includes shell roll encoder failure and shell roll motor failure.

[0065] S3: Analyze the system failure factors according to the attitude fault tree, and obtain that the attitude failure includes the angle measurement system angle measurement failure and the gyro shell rollover failure;

[0066] Angle measurement system angle measurement failure:

[0067] The fault phenomenon when the excitation fault occurs is obvious. The fault phenomenon of the excitation fault is manifested as the output angle value being two or more fixed dead numbers, and does not change with the rotation of the frame. The amplitude detection circuit can be replaced and checked separately as a whole, so the present invention does not discuss these two situations.

[0068] A failure in the induction synchronizer body will cause abnormal signal output at a specific point in each rotation of the frame.

[0069] The differential amplification change of the inductive synchronizer output signal will cause the overall error change of the output signal in each cycle. Therefore, we do not need to check all frame angle values ​​during the entire startup period. We only need to record a single cycle to analyze and determine the fault factor.

[0070] The signal amplified by the measuring inductive synchronizer needs to be led out at the input end of the AD2S83 chip. This operation requires welding six test wires directly at the patch resistor on the circuit board. Since the circuit boards on site have been sprayed with three-proof paint for protection, there is a risk of loose welding when operated by non-professionals, resulting in unreliable results. In severe cases, the pad may be damaged, causing the entire circuit board to be scrapped. The present invention solves the problem of whether the frame angle reading is abnormal without welding when there are no welding conditions and professionals in the field.

[0071] Gyro housing rollover failure:

[0072] The gyroscope shell roll failure includes the shell roll encoder failure and the shell roll motor failure. Regardless of the shell roll encoder failure or the shell roll motor failure, it is reflected in the data that the shell roll value jumps or changes abnormally at a certain moment (rolls too fast or too slow), so you only need to check the shell roll value.

[0073] Since the shell rollover value is a cycle every T minutes, in order to check whether the shell rollover value is correct, the ideal approach is to divide the data into a group every T minutes, and then find the group with significant differences, but due to the existence of motor control errors and sensor errors, there are differences between the data groups. The method of the present invention is based on the first N effective values ​​to determine whether the rollover of any shell rollover cycle of T minutes is normal, which realizes the prediction of the cycle mean and overcomes the disadvantage that the huge amount of data after the system has been running for a long time leads to difficulty in inspection.

[0074] In some embodiments of the present invention, N=10, T=8.

[0075] S4: Obtain the induction synchronizer state curve according to the signal coupling values ​​output in real time by the coarse pole induction synchronizer and the fine pole induction synchronizer and the coarse and fine coupling table; compensate the angle measurement loop gain according to the induction synchronizer state curve to complete the identification of the angle measurement system angle measurement fault;

[0076] During the frame rotation process, the coarse-pole induction synchronizer and the fine-pole induction synchronizer rotate at the same angle value at the same time. Each time the fine-pole induction synchronizer passes through zero, it means that the frame rotates 1°. The fine-pole induction synchronizer passes through zero 360 times when the frame rotates 360°. The values ​​of the coarse-pole induction synchronizer when all the fine-pole induction synchronizers pass through zero are recorded to obtain a set of table values, which are arranged point by point from small to large to obtain a coarse-fine coupling table. The system searches for the corresponding interval in the coarse-fine coupling table based on the signal coupling values ​​output in real time by the coarse-pole induction synchronizer and the fine-pole induction synchronizer to obtain the real-time angle value of the frame.

[0077] S41: Rotate the frame angle and record the original value of the induction synchronizer output to obtain the coarse and fine coupling table;

[0078] S42: synchronously read the output values ​​of the current coarse-pole induction synchronizer and the fine-pole induction synchronizer at a fixed frequency, and store the encoding values ​​of the coarse-pole induction synchronizer output at the end and the beginning of the fine-pole cycle for a total of 360 times. Each time the frame rotates 360 degrees, a group of 360 arrays is obtained. After n rotations, n groups of arrays are obtained. After calculating their average values, they are subtracted from the coarse-fine coupling table to obtain the induction synchronizer state curve;

[0079] In some embodiments of the invention, the frequency is 1000 Hz.

[0080] S421: Connect the angle measurement DSP (digital signal processor) board to the data acquisition computer through the simulator, compile and load the operation acquisition data engineering file;

[0081] Among them, the simulator model is XDS100V2_28335;

[0082] S422: Control each frame of the multi-ring frame system to return to zero and remain stationary for a period of time;

[0083] S423: Confirm that the program has been running, and rotate the frame to be checked slowly and evenly in the positive direction of the corner of the frame to be checked. During the rotation process, it must always rotate continuously in the positive direction for one circle. After it is in place, the program will automatically jump out of the loop and pause, and print the recorded data values ​​on the screen to obtain a set of data.

[0084] S424: The device is powered on again and the recording data engineering file is reloaded and run, and steps S122 and S123 are repeated to obtain multiple sets of data, and the measurement is repeated for at least 3 sets;

[0085] S425: Each group of Sort by size from small to large, check whether there are duplicate values, and if there are duplicate values, re-enroll;

[0086] S426: Subtract each measurement data point by point. If the difference is less than 5, it is considered to meet the repeatability requirement. If the difference is greater than 5, the group containing abnormal data is eliminated through comparison and inspection. , average the remaining valid data point by point to obtain the mean array ,Will Subtract the coarse-fine coupling table to obtain the induction synchronizer state curve ;

[0087] S43: Compensate the induction synchronizer state curve through the angle measurement loop gain circuit.

[0088] The angle measurement loop gain circuit uses an adjustable potentiometer and multiple chip resistors as matching resistors for the differential amplification link of the measurement channel. After the curve is reached, you can try to compensate the curve by adjusting the potentiometer. It approaches 0, and the reliability of the differential amplifier circuit can also be judged.

[0089] S5: Confirm the correctness of the shell rollover in the first N weeks, estimate the mean of subsequent shell rollovers through linear fitting, and determine the credibility of the mean of subsequent shell rollovers to complete the identification of the gyroscope shell rollover fault.

[0090] S51: Divide the shell rollover value data into a group of shared groups and calculate the mean of each group , , get the mean array;

[0091] S52: Draw a curve based on the data of the shell rolling over in the previous N weeks, confirm the correctness of the data of the shell rolling over in the previous N weeks based on the curve and obtain the inflection point;

[0092] S53: performing a linear fit on the mean array of the N+1th group, obtaining an estimated value of the mean array through the fitting, and obtaining a difference array by subtracting the mean array from the estimated value of the mean array;

[0093] Use the least squares method to solve the The univariate linear regression model corresponding to the group mean array ,get and The value of , is the independent variable, , is the predicted value of the mean array, is the mean array, , is the linear coefficient, is the constant term coefficient, and Make the mean to The sum of squares of the differences between the predicted values ​​calculated by the univariate linear regression model is the smallest, and the to The predicted value at to as well as to The difference between the predicted value calculated by the univariate linear regression model to ;

[0094] In the univariate linear regression model, , ,in, for The mean of for The mean of for No. A value, for No. value.

[0095] S54: Calculate the difference array of the average array of the previous N weeks;

[0096] S55: calculating the standard deviation of the difference array, and judging the credibility of the shell rollover value according to the standard deviation of the difference array;

[0097] calculate to Standard Deviation ,when In the range When , the mean value of the shell rollover value of group m is considered to be credible;

[0098] The discrete data derivative of the mth group of shell rollover values ​​is performed to find the inflection point position, and the inflection point position is compared with the inflection point position of the previous N groups of data. Within the T-minute period, if the inflection point positions coincide, it is considered that there is no abnormal inflection point, otherwise there is an abnormal inflection point;

[0099] S56: Repeat the above process to complete the determination of all shell rollover value data.

[0100] A posture fault recognition system for a four-ring space stabilization system, used to execute the above-mentioned posture fault recognition method for a four-ring space stabilization system, comprising:

[0101] The attitude system solving module 101 is used to obtain parameter factors affecting attitude calculation according to the attitude system solving process;

[0102] The attitude fault tree establishment module 102 is used to establish an attitude fault tree according to parameter factors affecting attitude calculation;

[0103] The fault factor analysis module 103 is used to analyze the system fault factors according to the attitude fault tree to obtain the attitude fault, wherein the attitude fault includes the angle measurement system angle measurement fault and the gyro housing rollover fault;

[0104] The angle measurement system angle measurement fault identification module 104 is used to obtain the induction synchronizer state curve according to the signal coupling value output in real time by the coarse pole induction synchronizer and the fine pole induction synchronizer and the coarse and fine coupling table; compensate the angle measurement loop gain according to the induction synchronizer state curve to complete the identification of the angle measurement system angle measurement fault;

[0105] The gyro shell rollover fault identification module 105 is used to confirm the correctness of the shell rollovers in the previous N cycles, estimate the subsequent shell rollover mean through linear fitting, and determine the credibility of the subsequent shell rollover mean to complete the identification of the gyro shell rollover fault.

[0106] Through the coordinated work of the above modules, the parameter factors affecting the attitude calculation are obtained through the attitude system solving module 101, the attitude fault tree establishing module 102 establishes the attitude fault tree according to the parameter factors affecting the attitude calculation, the fault factor analysis module 103 analyzes the system fault factors according to the attitude fault tree, and obtains the attitude faults including the angle measurement system angle measurement fault and the gyro shell rollover fault, and the angle measurement system angle measurement fault identification module 104 obtains the induction synchronizer state curve according to the signal coupling value output in real time by the coarse pole induction synchronizer and the fine pole induction synchronizer and the coarse and fine coupling table; the angle measurement loop gain is compensated according to the induction synchronizer state curve to complete the identification of the angle measurement system angle measurement fault, and the gyro shell rollover fault identification module 105 confirms the correctness of the shell rollover in the previous N weeks, estimates the subsequent shell rollover mean through linear fitting, and judges the credibility of the subsequent shell rollover mean to complete the identification of the gyro shell rollover fault.

[0107] The present invention establishes a fault tree through the attitude solution process, records and averages the original value of the induction synchronizer output by manually rotating the frame angle, and confirms the cause of the angle measurement system failure based on the difference between the recorded average value and the original coarse-fine coupling table. The same method is used to confirm whether the angle measurement system troubleshooting is effective, and then confirms the correctness of the shell rollover in the first N weeks, and uses linear fitting to estimate and evaluate whether the subsequent shell rollover mean is credible to determine the cause of the failure. The method solves the problem of quickly and conveniently detecting whether the frame angle reading is abnormal when there are no welding conditions and professionals in the field, and judging whether the rollover of any shell rollover cycle of T minutes is normal based on the first N effective values, realizing the prediction of the cycle mean, and overcoming the disadvantage of the huge amount of data causing difficulty in inspection after the system has been running for a long time.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for identifying attitude faults of a four-ring space stabilization system, characterized in that: include: S1: According to the attitude system solution process, obtain the parameter factors affecting the attitude calculation; The parameters that affect the attitude calculation are the frame rotation angle measured by the inductive synchronizer and the gyroscope housing roll angle; S2: Establish the attitude fault tree according to the parameter factors affecting the attitude calculation; S3: Analyze system failure factors according to the attitude fault tree to obtain attitude failure, where the attitude failure includes an angle measurement system angle measurement failure and a gyro housing rollover failure; The angle measurement system angle measurement failure includes the induction synchronizer body failure and the induction synchronizer output signal differential amplification change; the gyro shell rollover failure includes the shell rollover encoder failure and the shell rollover motor failure; S4: Obtain the induction synchronizer state curve according to the signal coupling values ​​output in real time by the coarse pole induction synchronizer and the fine pole induction synchronizer and the coarse and fine coupling table; compensate the angle measurement loop gain according to the induction synchronizer state curve to complete the identification of the angle measurement system angle measurement fault; During the frame rotation process, the coarse pole induction synchronizer and the fine pole induction synchronizer rotate at the same angle value at the same time. Each time the fine pole induction synchronizer passes through zero, it means that the frame rotates 1°. The fine pole induction synchronizer passes through zero 360 times when the frame rotates 360°. The values ​​of the coarse pole induction synchronizer when all the fine pole induction synchronizers pass through zero are recorded to obtain a set of table values, which are arranged point by point from small to large to obtain a coarse and fine coupling table. The system searches for the corresponding interval in the coarse and fine coupling table based on the signal coupling values ​​output in real time by the coarse pole induction synchronizer and the fine pole induction synchronizer to obtain the real-time angle value of the frame. S41: Rotate the frame angle and record the original value of the induction synchronizer output to obtain the coarse and fine coupling table; S42: synchronously read the output values ​​of the current coarse pole induction synchronizer and the fine pole induction synchronizer at a fixed frequency, and store the encoding values ​​of the coarse pole induction synchronizer output at the end and the beginning of the fine pole cycle for a total of 360 times. Each time the frame rotates 360 degrees, a group of 360 arrays is obtained. After n rotations, n groups of arrays are obtained. After calculating their average values, they are subtracted from the coarse and fine coupling table to obtain the induction synchronizer state curve; S43: compensating the induction synchronizer state curve through the angle measurement loop gain circuit; The angle measurement loop gain circuit uses an adjustable potentiometer and multiple chip resistors as matching resistors for the differential amplification link of the measurement channel. After the curve, adjust the potentiometer to compensate the curve. Approaching 0, the reliability of the differential amplifier circuit is judged at the same time; S5: Confirm the correctness of the shell rollover in the first N cycles, estimate the mean value of the subsequent shell rollover by linear fitting, and determine the credibility of the mean value of the subsequent shell rollover to complete the identification of the gyro shell rollover fault; S51: Divide the shell rollover value data into a group every T minutes and calculate the mean of each group , get the mean array; S52: Draw a curve based on the data of the shell rolling over in the previous N weeks, confirm the correctness of the data of the shell rolling over in the previous N weeks based on the curve and obtain the inflection point; S53: performing a linear fit on the mean array of the N+1th group, obtaining an estimated value of the mean array through the fitting, and obtaining a difference array by subtracting the mean array from the estimated value of the mean array; S54: Calculate the difference array of the average array of the previous N weeks; S55: calculating the standard deviation of the difference array, and judging the credibility of the shell rollover value according to the standard deviation of the difference array; S56: Repeat the above process to complete the determination of all shell rollover value data.

2. The method for identifying attitude faults of a four-ring space stabilization system according to claim 1, characterized in that: Use the least squares method to solve the The univariate linear regression model corresponding to the group mean array ,get and The value of , is the independent variable, , is the predicted value of the mean array, is the mean array, , is the linear coefficient, is the constant term coefficient, and Make the mean to The sum of squares of the differences between the predicted values ​​calculated by the univariate linear regression model is the smallest, and the to The predicted value at to as well as to The difference between the predicted value calculated by the univariate linear regression model to .

3. The method for identifying attitude faults of a four-ring space stabilization system according to claim 2, characterized in that: In step S55, the difference is calculated to Standard Deviation , when the mean In the range When , it is considered that the rollover value of the mth group of shells can be trusted, otherwise it is considered that there is a rollover abnormality during the rollover of the mth group of shells.

4. The method for identifying attitude faults of a four-ring space stabilization system according to claim 3, characterized in that: The discrete data derivative of the mth group of shell rollover values ​​is taken to find the inflection point position, which is compared with the inflection point positions of the first N groups of data. If the inflection point positions coincide, it is considered that there is no abnormal inflection point, otherwise there is an abnormal inflection point.

5. A posture fault recognition system for a four-ring space stabilization system, used to execute a posture fault recognition method for a four-ring space stabilization system as claimed in any one of claims 1 to 4, characterized in that: include: An attitude system solving module, wherein the attitude system solving module is used to obtain parameter factors affecting attitude calculation according to an attitude system solving process; The parameters that affect the attitude calculation are the frame rotation angle measured by the inductive synchronizer and the gyroscope housing roll angle; A posture fault tree establishment module, wherein the posture fault tree establishment module is used to establish a posture fault tree according to parameter factors affecting posture calculation; A fault factor analysis module, wherein the fault factor analysis module is used to analyze system fault factors according to the attitude fault tree to obtain attitude faults, wherein the attitude faults include an angle measurement system angle measurement fault and a gyro housing rollover fault; The angle measurement system angle measurement failure includes the induction synchronizer body failure and the induction synchronizer output signal differential amplification change; the gyro shell rollover failure includes the shell rollover encoder failure and the shell rollover motor failure; An angle measurement system angle measurement fault identification module, the angle measurement system angle measurement fault identification module is used to obtain the induction synchronizer state curve according to the signal coupling value output in real time by the coarse pole induction synchronizer and the fine pole induction synchronizer and the coarse and fine coupling table; compensate the angle measurement loop gain according to the induction synchronizer state curve to complete the identification of the angle measurement system angle measurement fault; During the frame rotation process, the coarse pole induction synchronizer and the fine pole induction synchronizer rotate at the same angle value at the same time. Each time the fine pole induction synchronizer passes through zero, it means that the frame rotates 1°. The fine pole induction synchronizer passes through zero 360 times when the frame rotates 360°. The values ​​of the coarse pole induction synchronizer when all the fine pole induction synchronizers pass through zero are recorded to obtain a set of table values, which are arranged point by point from small to large to obtain a coarse and fine coupling table. The system searches for the corresponding interval in the coarse and fine coupling table based on the signal coupling values ​​output in real time by the coarse pole induction synchronizer and the fine pole induction synchronizer to obtain the real-time angle value of the frame. S41: Rotate the frame angle and record the original value of the induction synchronizer output to obtain the coarse and fine coupling table; S42: synchronously read the output values ​​of the current coarse pole induction synchronizer and the fine pole induction synchronizer at a fixed frequency, and store the encoding values ​​of the coarse pole induction synchronizer output at the end and the beginning of the fine pole cycle for a total of 360 times. Each time the frame rotates 360 degrees, a group of 360 arrays is obtained. After n rotations, n groups of arrays are obtained. After calculating their average values, they are subtracted from the coarse and fine coupling table to obtain the induction synchronizer state curve; S43: compensating the induction synchronizer state curve through the angle measurement loop gain circuit; The angle measurement loop gain circuit uses an adjustable potentiometer and multiple chip resistors as matching resistors for the differential amplification link of the measurement channel. After the curve, adjust the potentiometer to compensate the curve. Approaching 0, the reliability of the differential amplifier circuit is judged at the same time; A gyro shell rollover fault identification module, which is used to confirm the correctness of the shell rollover in the first N weeks, estimate the subsequent shell rollover mean through linear fitting, and determine the credibility of the subsequent shell rollover mean to complete the identification of the gyro shell rollover fault; S51: Divide the shell rollover value data into a group every T minutes and calculate the mean of each group , get the mean array; S52: Draw a curve based on the data of the shell rolling over in the previous N weeks, confirm the correctness of the data of the shell rolling over in the previous N weeks based on the curve and obtain the inflection point; S53: performing a linear fit on the mean array of the N+1th group, obtaining an estimated value of the mean array through the fitting, and obtaining a difference array by subtracting the mean array from the estimated value of the mean array; S54: Calculate the difference array of the average array of the previous N weeks; S55: calculating the standard deviation of the difference array, and judging the credibility of the shell rollover value according to the standard deviation of the difference array; S56: Repeat the above process to complete the determination of all shell rollover value data.

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