Solar array drive mechanism angle measurement fault on-orbit autonomous identification and disposal method

Abstract

The application discloses a kind of solar panel drive mechanism angle measurement fault on-orbit autonomous identification and disposal method, in the process of solar panel drive mechanism on-orbit operation, the work state of four-axis is effectively judged by star computer in real time, if the absolute value of the difference between parameter return value in solar panel drive mechanism telemetry data frame +YA axis current angle-potentiometer and +YA axis current angle-motor is greater than or equal to 2 ° for the first threshold time successively, then +Y_A axis effective state is set as +Y_A axis measurement deviation is too large abnormality;-YA axis / +YB axis / -YB axis measurement deviation is too large judgment is same as +YA axis.The core step of fault identification method is to require the motor value of the moment when star record appears angle measurement deviation is too large abnormality, SADE restart moment and SADE machine cut moment, and carry out logic comparison, to achieve the purpose of setting the state of telemetry parameter.The identification method can quickly identify SADA axis fault state, and ground is quickly positioned conveniently.

Description

Technical Field

[0001] This invention relates to a satellite equipped with a solar panel drive mechanism, which has a potentiometer redundancy design, specifically to an on-orbit autonomous identification and handling method for angle measurement faults in a solar panel drive mechanism. Background Technology

[0002] Most spacecraft are currently equipped with solar array drive assemblies (SADA), which drive solar arrays to orient them toward the sun, improve the power generation efficiency of solar arrays, and ensure the energy supply of satellites.

[0003] Existing technologies include satellites employing two-dimensional dual-axis solar panel drive SADA devices, which possess two rotational degrees of freedom: the A-axis can rotate 360°, and the B-axis can oscillate within a limited angle range. The solar panel drive mechanism typically uses a stepper motor as the drive source, with harmonic reducers, shafts, and shaft systems transmitting power. Potentiometers and Hall effect zero-position sensors drive and detect angular velocity and position, while columnar conductive slip rings handle power and signal transmission. Due to the precision and complexity of this mechanism, stalling and step loss are frequent faults in on-orbit satellites. However, there are few timely fault identification and autonomous fault handling solutions; most faults are identified and handled manually on the ground, leading to complex identification processes, poor timeliness, and an increased probability of product damage. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides an on-orbit autonomous identification and handling method for angle measurement faults in solar panel drive mechanisms. This method enables rapid location of faults such as stalling or loss of synchronization in SADA products, timely on-orbit handling, and timely transmission of fault diagnosis results. Based on these diagnostic results, the ground can perform targeted product optimization, thereby increasing the reliability of on-orbit operation.

[0005] The technical solution of the present invention is: an on-orbit autonomous identification and handling method for angle measurement faults in a solar panel drive mechanism, wherein the solar panel drive mechanism includes a set of solar panel drive mechanical equipment and a set of solar panel drive electronic equipment;

[0006] Each solar panel drive mechanism includes two A-axis that can rotate a full circle and two B-axis that can swing at a limited angle, for a total of four products; depending on their installation position 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 drive electronics device adopts a cold backup design scheme; when the solar panel drive electronics device restarts or switches to another machine, the solar panel drive electronics device will automatically assign the current potentiometer value to the motor after powering on, and the solar panel drive electronics device will initially work in the master mode by default.

[0008] Each solar panel drive mechanism consists of four axes, and each axis has two angle measurement methods: motor step counting angle measurement and potentiometer angle measurement. Both 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 counting.

[0009] The on-orbit autonomous identification method for angle measurement faults in the solar panel drive mechanism is as follows: During the on-orbit operation of the solar panel drive mechanism, the spacecraft 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 of the solar panel drive mechanism telemetry data frame of the current angle of the +YA axis minus the potentiometer and the current angle of the +YA axis minus the motor is greater than or equal to 2° for a continuous first threshold time, then the valid status of the +YA axis is set to the abnormality of excessive measurement deviation of the +YA axis; the judgment of excessive measurement deviation of the -YA axis / +YB axis / -YB axis is the same as that of the +YA axis.

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

[0011] Furthermore, the on-orbit autonomous handling method for angle measurement faults in the solar panel drive mechanism is as follows:

[0012] If an abnormally large measurement deviation occurs on a certain axis, which is either the +YA axis, -YA axis, +YB axis, or -YB axis, the following operations are performed:

[0013] If the solar panel drive electronics are currently operating in the master mode and the effective status of a certain axis is an abnormality of excessive angular deviation, the spacecraft computer sets the operating mode of that axis to hold mode, records the motor value of that axis under the master mode of the solar panel drive electronics at the time of the abnormality, and restarts the solar panel drive electronics. The spacecraft computer records the potentiometer value of that axis under the master mode of the solar panel drive electronics after the restart. When the motor value of that axis recorded by the spacecraft computer is basically consistent with the recorded potentiometer value of that axis (meaning less than 2°), then that axis continues to operate in the master mode of the solar panel drive electronics, sets the angle abnormality flag of that axis to 0-normal, and the master mode of that axis... The potentiometer anomaly flag is 0 - normal; otherwise, the spacecraft computer switches the solar panel drive electronics equipment, and a certain axis is currently in backup operation of the solar panel drive electronics equipment. The spacecraft computer records the potentiometer value of a certain axis under the backup of the solar panel drive electronics equipment at the moment of the switch. When the backup potentiometer value of a certain axis recorded by the spacecraft is basically consistent with the recorded primary potentiometer value of a certain axis, the angle anomaly flag of a certain axis is set to 0 - normal, the primary potentiometer status of a certain axis is 0 - normal, and the backup potentiometer status of a certain axis is 0 - normal; otherwise, the angle anomaly flag of a certain axis is set to 0 - normal, the primary potentiometer status of a certain axis is 1 - abnormal, and the backup potentiometer status of a certain axis is 0 - normal.

[0014] When the effective status of a certain axis under the backup of the solar panel drive electronics is that the non-angle measurement deviation is too large, the angle abnormality flag of that axis is set to 0-normal, the backup potentiometer abnormality flag of that axis is set to 0-normal, and the status of the primary potentiometer abnormality flag of that axis remains unchanged. Otherwise, if an abnormality of excessive angle measurement deviation occurs on a certain axis, the satellite crew records the motor value of that axis at the time of the abnormality and restarts the solar panel drive electronics. The satellite crew records the potentiometer value of that axis under the backup of the solar panel drive electronics after the restart. When the satellite crew records the motor value of that axis and the recorded value of that axis... When the values ​​of the backup potentiometers on the axes are basically consistent, the solar panel drive mechanism continues to work in backup mode with the solar panel drive electronics. The abnormal angle flag of a certain axis is set to 0 - normal, the abnormal flag of the backup potentiometer on a certain axis is set to 0 - normal, and the abnormal flag of the primary potentiometer on a certain axis remains in its previous state. Otherwise, the satellite service will stop the onboard autonomous handling of the abnormality on that axis. The abnormal angle flag of a certain axis is set to 1 - abnormal, the abnormal flag of the backup potentiometer on a certain axis is set to 1 - abnormal, the abnormal flag of the primary potentiometer on a certain axis remains in its previous state, and the enable flag of a certain axis is set to disabled.

[0015] The core step of this fault identification method is to require the satellite crew to record the motor values ​​at the times when the angle measurement deviation is too large, the SADE restart time, and the SADE switch time, and then perform logical comparisons to achieve the purpose of setting the telemetry parameters.

[0016] This identification method can quickly identify the fault status of SADA axes, facilitating rapid ground positioning.

[0017] The beneficial effects of this invention are: it provides an on-orbit autonomous identification and handling method for motor stalling or loss of synchronization in a solar panel drive structure (SADA). This method enables rapid location of faults such as stalling or loss of synchronization in SADA products, timely on-orbit handling, and timely transmission of fault diagnosis results. Based on the diagnosis results, the ground can perform targeted product optimization.

[0018] Advantages: 1. Quickly locates stall or step loss faults;

[0019] 2. Fault diagnosis results are fed back in a timely and accurate manner;

[0020] 3. Fault handling is timely;

[0021] 4. Increase the reliability of the product during on-orbit operation;

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

[0023] The satellite computer checks the status parameters fed back by the SADA product every second. Once an anomaly is detected, the axis valid status flag is set to "excessive angular deviation". Then, the autonomous anomaly handling module is activated. The fault is analyzed and handled, and the fault diagnosis results are promptly sent to the user. The timely and efficient handling reduces product damage caused by the persistence of the fault, improves the product's lifespan and operational reliability, and fills the gap in health management of this type of SADA product under this fault. Attached Figure Description

[0024] Figure 1 This is a flowchart illustrating an on-orbit autonomous identification and handling method for angle measurement faults in a solar panel drive mechanism.

[0025] In the diagram: the +YA axis angle abnormality indicator is 1 - fault, indicating that the +YA axis motor is stalled or loses steps; 0 - normal, indicating that the +YA axis motor is operating normally.

[0026] A +YA axis primary potentiometer status of 1 indicates a fault, while 0 indicates normal operation.

[0027] +YA axis backup potentiometer status 1: Fault, indicating that the +YA axis backup potentiometer is faulty; 0: Normal, indicating that the +YA axis backup potentiometer is operating normally.

[0028] When the +YA axis enable flag is disabled, it means that the +YA axis blocks all drive control operation commands and remains locked; when enabled, it means that it accepts all drive control operation commands and executes them according to the command's operating mode. Detailed Implementation

[0029] The present invention will now be further described with reference to the accompanying drawings.

[0030] like Figure 1 As shown, the solar panel drive mechanism (SADA) consists of a solar panel drive mechanical device (SADM) and a solar panel drive electronic device (SADE). Each SADM includes two A-axis axes capable of full rotation and two B-axis axes capable of limited angular rotation, totaling four units. Based on their installation location on the satellite, units installed in the +Y direction of the satellite's coordinate system are defined as +YA and +YB; units installed in the -Y direction are defined as -YA and -YB. To ensure reliability, the SADE employs a cold backup design. When the SADE restarts or is switched over, it automatically assigns the current potentiometer value to the motor upon power-up, initially defaulting to master operation.

[0031] SADM products include four axes, each with two angle measurement methods: motor step counting angle measurement and potentiometer angle measurement. Both methods can reflect the real-time rotational position of the axis. In the following description, +YA / -YA / +YB / -YB axis current angle - potentiometer will 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 counting.

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

[0033] During SADA's on-orbit operation, the spacecraft computer will perform real-time validity checks on 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, then the validity status of the +YA axis will be set to "+YA axis measurement deviation too large abnormality"; the judgment of excessive measurement deviation for the -YA axis / +YB axis / -YB axis is the same as that for the +YA axis.

[0034] SADA angle measurement fault on-orbit autonomous handling method, such as Figure 1 As shown:

[0035] like axis / axis / axis / When an axis exhibits an abnormally large measurement deviation, the following operations are performed (taking the +YA axis as an example): If the SADE is currently operating in the primary mode and the +YA axis is in an abnormally large angular deviation state, the satellite computer sets the +YA axis operating mode to hold mode, records the +YA axis motor value under the SADE primary mode at the time of the abnormality, and restarts the SADE (i.e., the SADE primary mode is powered off and powered on). The satellite computer records the +YA axis potentiometer value under the SADE primary mode after the restart. When the +YA axis motor value recorded by the satellite computer is basically consistent with the recorded +YA axis potentiometer value (i.e., less than 2°), the +YA axis continues to operate in the SADE primary mode, and the +YA axis angle abnormality flag is set to 0-normal, and the +YA axis primary potentiometer abnormality flag is set to 0-normal; otherwise, the satellite computer switches the SADE (i.e., the SADE primary mode is powered off and the SADE backup mode is powered on), and the +YA axis operates in the SADE backup mode at this time. The satellite computer records the +YA axis potentiometer values ​​under SADE backup at the SADE switchover time. When the +YA axis backup potentiometer value recorded by the satellite is basically consistent with the recorded +YA axis primary potentiometer value (less than 2°), the +YA axis angle anomaly flag is set to 0-normal, the +YA axis primary potentiometer status is 0-normal, and the +YA axis backup potentiometer status is 0-normal; otherwise, the +YA axis angle anomaly flag is set to 0-normal, the +YA axis primary potentiometer status is 1-anomaly, and the +YA axis backup potentiometer status is 0-normal. If the effective status of the +YA axis under SADE backup is not excessive angle deviation, then the +YA axis angle anomaly flag is set to 0-normal, the +YA axis backup potentiometer anomaly flag is set to 0-normal, and the +YA axis primary potentiometer anomaly flag status remains unchanged; otherwise... If an abnormality of excessive angular deviation occurs on the +YA axis, the satellite operator records the +YA axis motor value at the time of the abnormality and restarts SADE. The satellite operator records the +YA axis potentiometer value backed up by SADE after the restart. When the +YA axis motor value recorded by the satellite operator is basically consistent with the recorded +YA axis backup potentiometer value, SADA continues to work on the SADE backup, sets the +YA axis angle abnormality flag to 0-normal, the +YA axis backup potentiometer abnormality flag to 0-normal, and the +YA axis primary potentiometer abnormality flag to its previous state. Otherwise, the satellite operator stops the onboard autonomous handling of this abnormality on this axis, sets the +YA axis angle abnormality flag to 1-abnormal, the +YA axis backup potentiometer abnormality flag to 1-abnormal, the +YA axis primary potentiometer abnormality flag to its previous state, and the +YA axis enable flag to be disabled.

[0036] The core step of this fault identification method is to require the satellite crew to record the motor values ​​at the times when the angle measurement deviation is too large, the SADE restart time, and the SADE switch time, and then perform logical comparisons to achieve the purpose of setting the telemetry parameters.

[0037] This identification method can quickly identify the fault status of SADA axes, facilitating rapid ground positioning.

[0038] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An on-orbit autonomous handling method for angle measurement faults in a solar panel drive mechanism, wherein the solar panel drive mechanism includes a set of solar panel drive mechanical equipment and a set of solar panel drive electronic equipment; Each solar panel drive mechanism includes two A-axis that can rotate a full circle and two B-axis that can swing at a limited angle, for a total of four products; depending on their installation position 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 drive electronics are designed with a cold backup scheme. When the solar panel drive electronics device restarts or switches to another machine, the solar panel drive electronics device will automatically assign the current potentiometer value to the motor after powering on. Initially, the solar panel drive electronics device will work in the master mode by default. Each solar panel drive mechanism consists of four axes, and each axis has two angle measurement methods: motor step counting angle measurement and potentiometer angle measurement. Both 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 counting. Its features are: The on-orbit autonomous handling method for angle measurement faults in the solar panel drive mechanism is as follows: If an abnormally large measurement deviation occurs on a certain axis, which is either the +YA axis, -YA axis, +YB axis, or -YB axis, the following operations are performed: If the solar panel drive electronics are currently operating in the master mode and the effective status of a certain axis is an abnormality of excessive angular deviation, the spacecraft computer sets the operating mode of that axis to hold mode, records the motor value of that axis under the master mode of the solar panel drive electronics at the time of the abnormality, and restarts the solar panel drive electronics. The spacecraft computer records the potentiometer value of that axis under the master mode of the solar panel drive electronics after the restart. When the motor value of that axis recorded by the spacecraft computer is basically consistent with the recorded potentiometer value of that axis (meaning less than 2°), then that axis continues to operate in the master mode of the solar panel drive electronics, sets the angle abnormality flag of that axis to 0-normal, and the master mode of that axis... The potentiometer anomaly flag is 0 - normal; otherwise, the spacecraft computer switches the solar panel drive electronics equipment, and a certain axis is currently in backup operation of the solar panel drive electronics equipment. The spacecraft computer records the potentiometer value of a certain axis under the backup of the solar panel drive electronics equipment at the moment of the switch. When the backup potentiometer value of a certain axis recorded by the spacecraft is basically consistent with the recorded primary potentiometer value of a certain axis, the angle anomaly flag of a certain axis is set to 0 - normal, the primary potentiometer status of a certain axis is 0 - normal, and the backup potentiometer status of a certain axis is 0 - normal; otherwise, the angle anomaly flag of a certain axis is set to 0 - normal, the primary potentiometer status of a certain axis is 1 - abnormal, and the backup potentiometer status of a certain axis is 0 - normal. When the effective status of a certain axis under the backup of the solar panel drive electronics is that the non-angle measurement deviation is too large, the angle abnormality flag of that axis is set to 0-normal, the backup potentiometer abnormality flag of that axis is set to 0-normal, and the status of the primary potentiometer abnormality flag of that axis remains unchanged. Otherwise, if an abnormality of excessive angle measurement deviation occurs on a certain axis, the satellite crew records the motor value of that axis at the time of the abnormality and restarts the solar panel drive electronics. The satellite crew records the potentiometer value of that axis under the backup of the solar panel drive electronics after the restart. When the satellite crew records the motor value of that axis and the recorded value of that axis... When the values ​​of the backup potentiometers on the axes are basically consistent, the solar panel drive mechanism continues to work in backup mode with the solar panel drive electronics. The abnormal angle flag of a certain axis is set to 0 - normal, the abnormal flag of the backup potentiometer on a certain axis is set to 0 - normal, and the abnormal flag of the primary potentiometer on a certain axis remains in its previous state. Otherwise, the satellite service will stop the onboard autonomous handling of the abnormality on that axis. The abnormal angle flag of a certain axis is set to 1 - abnormal, the abnormal flag of the backup potentiometer on a certain axis is set to 1 - abnormal, the abnormal flag of the primary potentiometer on a certain axis remains in its previous state, and the enable flag of a certain axis is set to disabled.

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