Solar panel driving mechanism angle measurement fault on-orbit autonomous identification and disposal method

Abstract

The invention discloses an on-orbit autonomous identification and disposal method for an angle measurement fault of a solar panel driving mechanism, and the method comprises the steps: enabling a satellite service computer to carry out the effective judgment of the working states of four shafts in real time in the in-orbit operation process of the solar panel driving mechanism; if the absolute value of the difference between the parameter return value + YA axis current angle-potentiometer and the parameter return value + YA axis current angle-motor in the telemetry data frame of the solar panel driving mechanism in continuous first threshold time is greater than or equal to 2 degrees, setting the effective state of the + YA axis to be the abnormal state of overlarge measurement deviation of the + YA axis, and if the absolute value of the difference between the parameter return value + YA axis current angle-potentiometer and the parameter return value + YA axis current angle-motor is greater than or equal to 2 degrees; if the-YA axis / + YB axis / -YB axis measurement deviation is too large, the same + YA axis is judged. The core step of the fault identification method is that a satellite is required to record motor values at an abnormal moment when an angle measurement deviation is too large, at an SADE restarting moment and at an SADE generator tripping moment, and logic comparison is carried out, so that the purpose of setting the state of a telemetering parameter is achieved. According to the identification method, the SADA shaft fault state can be rapidly identified, and rapid ground positioning is facilitated.

Description

Technical Field

[0001] The invention relates to a satellite equipped with a solar sail panel driving mechanism, and the solar sail panel driving mechanism has a potentiometer redundancy design, and specifically relates to an on-orbit autonomous identification and disposal method for an angle measurement fault of a solar sail panel driving mechanism. Background Art

[0002] Currently, most spacecraft are equipped with a solar array drive assembly (SADA) to drive the solar array to orient it toward the sun, improve the power generation efficiency of the solar cell array, and ensure the energy supply of the satellite.

[0003] In the prior art, some satellites use a two-dimensional dual-axis sailboard drive SADA device, which has two degrees of rotational freedom. The A axis can achieve 360° rotation, and the B axis can achieve swing within a limited angle range. The solar sailboard drive mechanism usually uses a stepper motor as the drive source. The harmonic reducer, shaft and shaft system components transmit power to the entire mechanism. The potentiometer and Hall zero position sensor realize angular velocity and angular position drive and detection. The column conductive slip ring is used for power and signal transmission. Due to the precision and complexity of the mechanism, the on-orbit satellite mechanism frequently stalls and loses step, but there are few solutions for timely identification and autonomous handling of the fault. Most of them are manually identified and handled on the ground, which is complicated to identify, has poor timeliness, and increases the probability of product damage. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides an on-orbit autonomous identification and handling method for the angle measurement fault of the solar panel drive mechanism. Through this method, it is possible to quickly locate faults such as stalling or loss of step in SADA products, handle them in time on-orbit, and transmit the fault diagnosis results in time. The ground can perform targeted product optimization based on the diagnosis results to increase the reliability of the product's on-orbit operation.

[0005] The technical solution of the present invention is: an on-orbit autonomous identification and handling method of an angle measurement fault of a solar sail panel driving mechanism, wherein the solar sail panel driving mechanism comprises a set of solar sail panel driving mechanical equipment and a set of solar sail panel driving electronic equipment;

[0006] Each set of solar panel driving mechanical equipment includes two A-axes that can rotate a full circle and two B-axes that can swing at a limited angle, a total of four products; according to their different installation positions on the satellite, the products installed in the +Y direction of the satellite body coordinate system are defined as +YA and +YB; the products installed in the -Y direction of the satellite body coordinate system are defined as -YA and -YB;

[0007] The solar panel driving electronic device adopts a cold backup design scheme; when the solar panel driving electronic device is restarted or cut off, the solar panel driving electronic device will automatically assign the current potentiometer value to the motor after powering on, and the solar panel driving electronic device is initially defaulted to work in the main backup;

[0008] Each set of solar sail driving mechanical equipment includes four axes, and each axis has two angle measurement methods, namely motor step angle measurement and potentiometer angle measurement. Both angle measurement methods can reflect the real-time rotation position of the axis; +YA / -YA / +YB / -YB axis current angle-potentiometer indicates the real-time angle measurement value of the four-axis potentiometer, and +YA / -YA / +YB / -YB axis current angle-motor indicates the real-time angle measurement value of the four-axis motor step angle measurement;

[0009] The on-orbit autonomous identification method for the angle measurement fault of the solar panel drive mechanism is as follows: during the on-orbit operation of the solar panel drive mechanism, the satellite computer will make a real-time validity judgment on the working status of the four axes. If the absolute value of the difference between the parameter return value +YA axis current angle - potentiometer and +YA axis current angle - motor in the solar panel drive mechanism telemetry data frame is greater than or equal to 2° for a first consecutive threshold time, the +YA axis valid state is set to +Y_A axis measurement deviation is too large abnormal; -YA axis / +YB axis / -YB axis measurement deviation is too large and is judged to be the same as +YA axis.

[0010] Furthermore, the first threshold is 5s.

[0011] Furthermore, the on-orbit autonomous handling method for the angle measurement failure of the solar sail driving mechanism is as follows:

[0012] If a measurement deviation is too large for a certain axis, and the axis is the +YA axis, -YA axis, +YB axis, or -YB axis, perform the following operations:

[0013] If the current solar panel driving electronic equipment is working in the main part and the effective state of the one axis is an abnormal excessive angular measurement deviation, the satellite service computer sets the working mode of the one axis to the holding mode, records the motor value of the one axis in the main part of the solar panel driving electronic equipment at the abnormal time, and restarts the solar panel driving electronic equipment. The satellite service computer records the potentiometer value of the one axis in the main part of the solar panel driving electronic equipment after the restart. When the motor value of the one axis recorded by the satellite service computer is basically consistent with the recorded potentiometer value of the one axis, and the basically consistent means less than 2°, the one axis continues to work in the main part of the solar panel driving electronic equipment, and the angle abnormality flag of the one axis is set to 0-normal, and the main part of the one axis is turned off. The abnormal flag of the potentiometer is 0-normal; otherwise, the satellite computer cuts off the solar panel drive electronic equipment, and a certain axis is working in the backup of the solar panel drive electronic equipment at this time; the satellite computer records the potentiometer value of a certain axis under the backup of the solar panel drive electronic equipment at the time when the solar panel drive electronic equipment is cut off. When the backup potentiometer value of a certain axis recorded by the satellite computer is basically consistent with the main potentiometer value of a certain axis, the abnormal flag of the angle of a certain axis is set to 0-normal, the state of the main potentiometer of a certain axis is 0-normal, and the state of the backup potentiometer of a certain axis is 0-normal; otherwise, the abnormal flag of the angle of a certain axis is set to 0-normal, the state of the main potentiometer of a certain axis is 1-abnormal, and the state of the backup potentiometer of a certain axis is 0-normal;

[0014] When the effective state of a certain axis is not that the angle measurement deviation is too large under the backup of the solar sail panel driving electronic equipment, the angle abnormality flag of a certain axis is set to 0-normal, the backup potentiometer abnormality flag of a certain axis is set to 0-normal, and the abnormal flag state of the main potentiometer of a certain axis maintains the previous state; otherwise, if an angle measurement deviation is too large abnormal on a certain axis, the satellite service records the motor value of a certain axis at the time of the abnormality, and restarts the solar sail panel driving electronic equipment. The satellite service records the potentiometer value of a certain axis backed up by the solar sail panel driving electronic equipment after the restart. When the motor value of a certain axis recorded by the satellite service is the same as the recorded value of a certain axis When the values ​​of the backup potentiometers of the axes are basically consistent, the solar panel drive mechanism continues to back up the solar panel drive electronic equipment, and the angle abnormality flag of a certain axis is set to 0-normal, the backup potentiometer abnormality flag of a certain axis is set to 0-normal, and the abnormal flag state of the main potentiometer of a certain axis remains in the previous state; otherwise, the subsequent satellite service stops the on-board autonomous handling of the abnormality of the axis, and sets the angle abnormality flag of a certain axis to 1-abnormal, the backup potentiometer abnormality flag of a certain axis to 1-abnormal, the abnormal flag state of the main potentiometer of a certain axis remains in the previous state, and the enable flag of a certain axis is prohibited.

[0015] The core step of this fault identification method is to require the satellite service to record the motor values ​​at the time when the abnormal angle measurement deviation is too large, the SADE restart time and the SADE cut-off time, and perform logical comparison to achieve the purpose of setting the state of the telemetry parameters.

[0016] This identification method can quickly identify the fault status of the SADA axis and facilitate rapid positioning on the ground.

[0017] The beneficial effects of the present invention are: providing an on-orbit autonomous identification and handling method when a motor in a solar panel drive structure (abbreviated as SADA) is stuck or out of step. Through this method, the SADA product can be quickly located when it is stuck or out of step, and timely handled on orbit, and the fault diagnosis results can be transmitted in time, and targeted product optimization can be carried out on the ground based on the diagnosis results.

[0018] Advantages: 1. Rapid location of stall or out-of-step faults;

[0019] 2. Feedback of fault diagnosis results is timely and accurate;

[0020] 3. Timely troubleshooting;

[0021] 4. Increase the reliability of product operation on track;

[0022] 5. It fills the gap of health management of this type of SADA products under this fault.

[0023] The satellite computer checks the status parameters fed back by the SADA product every second. Once an abnormality is found, the axis valid status flag is set to an abnormality of excessive angular deviation, and then enters the autonomous abnormality handling module. The fault is then analyzed and handled, and the fault diagnosis results are obtained and sent to the user in a timely and efficient manner, which reduces product damage caused by the continued existence of the fault, improves the product life and operational reliability, and fills the gap in health management of this type of SADA product under this fault. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The present invention is a flowchart of an on-orbit autonomous identification and treatment method of an angle measurement fault of a solar panel driving mechanism.

[0025] In the figure: +YA axis angle abnormality flag is 1-fault, indicating that +YA axis motor is blocked or out of step; 0-normal, indicating that +YA axis motor is running normally;

[0026] The status of the +YA axis main potentiometer is 1-fault, indicating that the +YA axis main potentiometer is faulty; 0-normal, indicating that the +YA axis main potentiometer is operating normally;

[0027] The +YA axis backup potentiometer status is 1: fault, indicating that the +YA axis backup potentiometer is faulty; 0-normal, indicating that the +YA axis backup potentiometer is operating normally;

[0028] The +YA axis enable flag is disabled, indicating that the +YA axis blocks all drive control operation instructions and maintains a locked state; enabled means that all drive control operation instructions are accepted and executed according to the command operation mode. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with the accompanying drawings.

[0030] like Figure 1 As shown, the solar panel drive mechanism (SADA) consists of a set of solar panel drive mechanical equipment (SADM) and a set of solar panel drive electronic equipment (SADE). Each set of SADM includes two A-axes that can rotate a full circle and two B-axes that can swing at a limited angle, a total of four products. According to their different installation positions on the satellite, the products installed in the +Y direction of the satellite body coordinate system are defined as +YA and +YB; the products installed in the -Y direction of the satellite body coordinate system are defined as -YA and -YB. In order to ensure reliability, SADE uses a cold backup design. When SADE is restarted or cut off, it will automatically assign the current potentiometer value to the motor after powering on. The initial default is that SADE works in the main backup.

[0031] SADM products include four axes, and each axis has two angle measurement methods, namely motor step angle measurement and potentiometer angle measurement. Both angle measurement methods can reflect the real-time rotation position of the axis. In the subsequent description, +YA / -YA / +YB / -YB axis current angle-potentiometer will be used to represent the real-time angle measurement value of the four-axis potentiometer, and +YA / -YA / +YB / -YB axis current angle-motor will represent the real-time angle measurement value of the four-axis motor step angle.

[0032] On-orbit autonomous identification method of SADA angle measurement fault:

[0033] During the on-orbit operation of SADA, the satellite computer will make a real-time judgment on the effectiveness of the working status of the four axes. If the absolute value of the difference between the parameter return values ​​"+YA axis current angle - potentiometer" and "+YA axis current angle - motor" in the SADA telemetry data frame is greater than or equal to 2° for 5 consecutive seconds, the +YA axis effective state is set to "+Y_A axis measurement deviation is too large abnormality"; -YA axis / +YB axis / -YB axis measurement deviation is too large, and the same judgment is made for +YA axis;

[0034] The on-orbit autonomous handling method of SADA angle measurement failure is as follows: Figure 1 As shown:

[0035] If the measurement deviation of the +YA axis / -YA axis / +YB axis / -YB axis is too large, the following operations are performed (taking the +YA axis as an example): If the current SADE is working in the main copy and the effective state of the +YA axis is the abnormal large angular deviation, the satellite computer sets the +YA axis working mode to the hold mode, records the +YA axis motor value in the SADE main copy at the time of the abnormality, and restarts the SADE (that is, the SADE main copy is shut down and the SADE main copy is turned on). The satellite computer records the +YA axis potentiometer value in the SADE main copy after the restart. When the +YA axis motor value recorded by the satellite computer is basically consistent with the recorded +YA axis potentiometer value (that is, less than 2°), the +YA axis continues to work in the SADE main copy, sets the +YA axis angle abnormality flag to 0-normal, and the +YA axis main copy potentiometer abnormality flag to 0-normal; otherwise, the satellite computer cuts off the SADE (that is, the SADE main copy is shut down and the SADE backup is turned on), and the +YA axis is working in the SADE backup at this time. The satellite computer records the +YA axis potentiometer value under SADE backup at the moment of SADE cutting. When the +YA axis backup potentiometer value recorded by the satellite computer is basically consistent with the +YA axis main potentiometer value recorded (less than 2°), the +YA axis angle abnormality flag is set to 0-normal, the +YA axis main potentiometer state is 0-normal, and the +YA axis backup potentiometer state is 0-normal; otherwise, the +YA axis angle abnormality flag is set to 0-normal, the +YA axis main potentiometer state is 1-abnormal, and the +YA axis backup potentiometer state is 0-normal; when the +YA axis effective state under SADE backup is non-angle measurement deviation is too large, the +YA axis angle abnormality flag is set to 0-normal, the +YA axis backup potentiometer abnormality flag is set to 0-normal, and the +YA axis main potentiometer abnormality flag state maintains the previous state; otherwise, If the +YA axis has an abnormal angle measurement deviation that is too large, the satellite service records the +YA axis motor value at the time of the abnormality and restarts SADE. The satellite service records the +YA axis potentiometer value backed up by SADE after the restart. When the +YA axis motor value recorded by the satellite service is basically consistent with the recorded +YA axis backup potentiometer value, SADA continues to work in the SADE backup, and sets the +YA axis angle abnormality flag to 0-normal, the +YA axis backup potentiometer abnormality flag to 0-normal, and the +YA axis main potentiometer abnormality flag status to the previous state; otherwise, the subsequent satellite service stops the on-board autonomous handling of the abnormal axis, sets the +YA axis angle abnormality flag to 1-abnormal, the +YA axis backup potentiometer abnormality flag to 1-abnormal, the +YA axis main potentiometer abnormality flag status to the previous state, and the +YA axis enable flag is prohibited.

[0036] The core step of this fault identification method is to require the satellite service to record the motor values ​​at the time when the abnormal angle measurement deviation is too large, the SADE restart time and the SADE cut-off time, and perform logical comparison to achieve the purpose of setting the state of the telemetry parameters.

[0037] This identification method can quickly identify the fault status of the SADA axis and facilitate rapid positioning on the ground.

[0038] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An on-orbit autonomous identification and handling method for angle measurement faults of a solar sail driving mechanism, wherein the solar sail driving mechanism comprises a set of solar sail driving mechanical equipment and a set of solar sail driving electronic equipment; Each set of solar panel driving mechanical equipment includes two A-axes that can rotate a full circle and two B-axes that can swing at a limited angle, a total of four products; according to their different installation positions on the satellite, the products installed in the +Y direction of the satellite body coordinate system are defined as +YA and +YB; the products installed in the -Y direction of the satellite body coordinate system are defined as -YA and -YB; The solar panel driving electronic device adopts a cold backup design scheme; when the solar panel driving electronic device is restarted or cut off, the solar panel driving electronic device will automatically assign the current potentiometer value to the motor after powering on, and the solar panel driving electronic device is initially defaulted to work in the main backup; Each set of solar sail driving mechanical equipment includes four axes, and each axis has two angle measurement methods, namely motor step angle measurement and potentiometer angle measurement. Both angle measurement methods can reflect the real-time rotation position of the axis; +YA / -YA / +YB / -YB axis current angle-potentiometer indicates the real-time angle measurement value of the four-axis potentiometer, and +YA / -YA / +YB / -YB axis current angle-motor indicates the real-time angle measurement value of the four-axis motor step angle measurement; Features: The on-orbit autonomous identification method for the angle measurement fault of the solar panel drive mechanism is as follows: during the on-orbit operation of the solar panel drive mechanism, the satellite computer will make a real-time validity judgment on the working status of the four axes. If the absolute value of the difference between the parameter return value +YA axis current angle - potentiometer and +YA axis current angle - motor in the solar panel drive mechanism telemetry data frame is greater than or equal to 2° for a first consecutive threshold time, the +YA axis valid state is set to +Y_A axis measurement deviation is too large abnormal; -YA axis / +YB axis / -YB axis measurement deviation is too large and is judged to be the same as +YA axis.

2. The method for autonomous on-orbit identification and handling of angle measurement faults of solar sail driving mechanisms according to claim 1, characterized in that: The first threshold is 5s.

3. The method for autonomous on-orbit identification and handling of angle measurement faults of solar panel drive mechanisms according to claim 1, characterized in that: The on-orbit autonomous handling method for the angle measurement failure of the solar sail driving mechanism is as follows: If a measurement deviation is too large for a certain axis, and the axis is the +YA axis, -YA axis, +YB axis, or -YB axis, perform the following operations: If the current solar panel driving electronic device is working in the main part and the effective state of the certain axis is abnormal with excessive angular deviation, the satellite computer sets the working mode of the certain axis to the holding mode, records the motor value of the certain axis in the main part of the solar panel driving electronic device at the abnormal time, and restarts the solar panel driving electronic device. The satellite computer records the potentiometer value of the certain axis in the main part of the solar panel driving electronic device after the restart. When the motor value of the certain axis recorded by the satellite computer is basically consistent with the recorded potentiometer value of the certain axis, and the basically consistent means less than 2°, then the certain axis continues to work in the main part of the solar panel driving electronic device. When the solar panel driving electronics device is working, the abnormal flag of the angle of a certain axis is set to 0-normal, and the abnormal flag of the main potentiometer of a certain axis is set to 0-normal; otherwise, the satellite computer cuts off the solar panel driving electronics device, and the certain axis is working in the backup of the solar panel driving electronics device at this time; the satellite computer records the potentiometer value of a certain axis under the backup of the solar panel driving electronics device at the time of cutting off the solar panel driving electronics device, and when the backup potentiometer value of a certain axis recorded by the satellite computer is basically consistent with the recorded main potentiometer value of a certain axis, the abnormal flag of the angle of a certain axis is set to 0-normal, the state of the main potentiometer of a certain axis is set to 0-normal, and the state of the backup potentiometer of a certain axis is set to 0-normal; Otherwise, set the abnormal flag of a certain axis angle to 0-normal, the state of a certain axis main potentiometer to 1-abnormal, and the state of a certain axis backup potentiometer to 0-normal; When the effective state of a certain axis is not that the angle measurement deviation is too large under the backup of the solar sail panel driving electronic equipment, the angle abnormality flag of a certain axis is set to 0-normal, the backup potentiometer abnormality flag of a certain axis is set to 0-normal, and the abnormal flag state of the main potentiometer of a certain axis maintains the previous state; otherwise, if an angle measurement deviation is too large abnormal on a certain axis, the satellite service records the motor value of a certain axis at the time of the abnormality, and restarts the solar sail panel driving electronic equipment. The satellite service records the potentiometer value of a certain axis backed up by the solar sail panel driving electronic equipment after the restart. When the motor value of a certain axis recorded by the satellite service is the same as the recorded value of a certain axis When the values ​​of the backup potentiometers of the axes are basically consistent, the solar panel drive mechanism continues to back up the solar panel drive electronic equipment, and the angle abnormality flag of a certain axis is set to 0-normal, the backup potentiometer abnormality flag of a certain axis is set to 0-normal, and the abnormal flag state of the main potentiometer of a certain axis remains in the previous state; otherwise, the subsequent satellite service stops the on-board autonomous handling of the abnormality of the axis, and sets the angle abnormality flag of a certain axis to 1-abnormal, the backup potentiometer abnormality flag of a certain axis to 1-abnormal, the abnormal flag state of the main potentiometer of a certain axis remains in the previous state, and the enable flag of a certain axis is prohibited.

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