Full-physical verification system and method for recovery control device

Abstract

The invention discloses a full-physical verification system and method for a recovery control device, and belongs to the technical field of spacecraft recovery control. The verification system comprises an acceleration environment simulation system, a vibration environment simulation system, an internal and external signal connection system, an upper computer test system, a data analysis system and a return system-oriented recovery control device. And verifying whether the functional performance of the recovery control device meets requirements.

Description

Technical Field

[0001] The invention relates to a full physical verification system and method for a recovery control device, belonging to the technical field of spacecraft recovery control. Background Art

[0002] Both the recoverable satellite and the asteroid sampling return capsule use an overload-time trigger method to control the parachute opening during the return process. The recovery control device using the overload-time control method needs to correctly and reliably issue the parachute opening command in an environment that includes acceleration and return capsule aerodynamic pulsation interference. Therefore, it is crucial for the recovery control device to work normally in the above environment. At present, my country's recoverable satellite recovery system only uses a centrifuge to calibrate the overload value of the overload sensor inside the recovery control device in design, while a semi-physical simulation system is designed for the asteroid sampling return capsule. Through the test interface of the recovery control device, a numerical simulation method is used to simulate the environment with aerodynamic interference, vibration interference and ballistic overload during the return process. The working performance of the recovery control device is verified by observing the working performance of the recovery control device.

[0003] The current verification methods, such as the recoverable satellite system, verify the static accuracy performance of a single sensor, without joint verification of its filtering performance and working timing performance; on the other hand, the simulation data generated by the semi-physical simulation system is not accurate enough, and the simulated environment loaded through the test interface has certain distortion, which cannot fully simulate the re-entry environment. It is urgent to develop a new generation of full-link verification system with ballistic overload and sinusoidal vibration interference composite loading for the return environment to improve the working reliability of the recovery control device. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, a full physical verification system and method for a recovery control device is proposed, which simulates the review return environment of ballistic overload and sinusoidal vibration, and uses environmental perception, signal filtering, and timing monitoring to perform full-function verification of the overload-time control method.

[0005] The technical solution of the present invention is:

[0006] A full physical verification system for a recovery control device, including an acceleration environment simulation system, a vibration environment simulation system, an internal and external signal connection system, a host computer test system and a data analysis system;

[0007] The vibration environment simulation system is arranged on the rotating arm of the acceleration environment simulation system, and the recovery control device to be tested is placed on the vibration environment simulation system; wherein the acceleration environment simulation system provides an axial overload environment, and the vibration environment simulation system provides an axial sinusoidal vibration environment, so that the recovery control device is in a compound overload environment;

[0008] The internal and external signal connection system connects the host computer test system with the recovery control device to perform information exchange and power transmission;

[0009] The host computer test system is used to control the power-off of the recovery program control device, receive the overload voltage telemetry signal and timing instruction signal sent by the recovery control device, and forward them to the data analysis system;

[0010] The data analysis system calibrates the voltage signal output by the recovery control device under an axial overload environment to form an overload-voltage relationship curve; based on the overload-voltage relationship curve, the overload voltage telemetry signal output by the recovery control device under a compound overload environment is converted into an overload-time relationship curve; the overload-time relationship curve is then compared with the timing command signal of the recovery control device to verify the working performance of the recovery control device under the compound overload environment.

[0011] Furthermore, the acceleration environment simulation system provides an axial overload environment in the range of 0 to 50g, and the rate of change of the acceleration rise and fall process of the load is greater than 0.5g / s.

[0012] Furthermore, the rotating arm of the acceleration environment simulation system is not less than 3m.

[0013] Furthermore, the axial vibration output by the vibration environment simulation system is a sinusoidal vibration, the simulation range is 1 to 500 Hz, and the amplitude is 0 to 0.5 g.

[0014] Furthermore, the internal and external signal connection system includes an internal wiring board, an internal connection cable, a slip ring, an external connection cable and an external wiring board, realizing no less than 100 signal connections; among them, the power supply signal, return signal and signal line used to recover the power supply of the control device all need to meet the connection of three or more wires, so that during the operation of the acceleration environment simulation system, the resistance value through the slip ring is always better than 0.5Ω.

[0015] Furthermore, the resistance of a single function wiring harness from the recovery control device to the host computer test system is less than 0.5Ω.

[0016] Furthermore, the data analysis system includes a filtering algorithm module and a timing signal extraction algorithm module; the filtering algorithm module monitors the signal output of the host computer test system according to the overload environment, and obtains the overload sensor curve output data and the pyrotechnic signal execution time data.

[0017] A method for performing full physical verification based on a full physical verification system for a recovery control device includes:

[0018] S1: Calibrate the full physical verification system of the recovery control device to obtain the overload telemetry voltage data output by the recovery control device under different simulated overload environments as calibration data;

[0019] S2: Start the host computer test system, acceleration environment simulation system and vibration environment simulation system, carry out overload environment loading review, simulate the full physical environment under the return trajectory overload, monitor and record the overload voltage telemetry signal and timing command signal output by the recovery control device;

[0020] S3: Analyze the calibration data obtained in step S1: process the overload telemetry voltage data under each overload value through the filtering algorithm module to obtain stable overload data, record the overload telemetry voltage value corresponding to the current overload value, and generate a curve of the corresponding relationship between the overload value and the voltage; based on the curve of the corresponding relationship between the overload value and the voltage, take the overload voltage value corresponding to the overload value of 0g as the zero-position output value of the overload sensor, and the slope of the curve is the sensitivity of the overload sensor;

[0021] S4: based on the zero-position output value and sensitivity of the overload sensor obtained in step S3, convert the overload voltage telemetry signal output by the recovery control device obtained in step S2 into an overload curve; compare the overload curve with the timing command signal obtained in step S2 to obtain the triggering overload G and timing T when the recovery control device is working;

[0022] S5: Based on the trigger overload G and timing T when the recovery control device is working, the robustness of the control function of the recovery control device is evaluated by comparing with the technical requirement values ​​of the recovery control device.

[0023] Furthermore, in step S1, the method for calibrating the full physical verification system of the recovery control device is:

[0024] Start the host computer test system, power on the recycling control device product, and test the connection correctness and resistance accuracy of the internal and external signal connection system;

[0025] Start the acceleration environment simulation system and begin the calibration of the recovery control device. The calibration is based on the sensor range setting inside the recovery control device and is performed according to the overload range formed by 0g to the maximum range. Each 1g is an overload value mark point. The acceleration environment simulation system stays at the set value at each overload value point simulated. The overload telemetry voltage value output by the recovery control device is obtained and recorded through the host computer test system.

[0026] After the calibration is completed, stop the acceleration environment simulation system.

[0027] Further, in step S4, based on the zero-position output value and sensitivity of the overload sensor obtained in step S3, the overload voltage telemetry signal output by the recovery control device obtained in step S2 is converted into an overload curve, and the conversion relationship is:

[0028]

[0029] Wherein, τ is the zero-position output value of the overload sensor, λ is the sensitivity of the overload sensor, η is the overload value applied to the recovery control device, and V is the output overload voltage telemetry signal of the recovery control device.

[0030] The advantages of the present invention compared with the prior art are:

[0031] (1) The present invention adopts a simulation method of a "ballistic overload + sinusoidal vibration" verification environment simulation system, which can provide simulation functions of single-axial acceleration and sinusoidal vibration in a larger range, so that the "overload + time control scheme" can be verified in the full link of environmental sensitivity, signal filtering, and control program.

[0032] (2) In order to solve the problem of large interference to electronic equipment working in the centrifuge environment system, the present invention designs a method of using multi-point and multi-line power supply and signal transmission to reduce slip ring interference. At the same time, an overload sensor calibration and data processing method combined with upper computer filtering is adopted to minimize system interference and make system verification more accurate.

[0033] (3) The present invention can verify the performance in different environments through the free combination of acceleration and vibration environments, and realize the test verification of the entire boundary of the recovery control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0035] Figure 1 This is a schematic diagram of the installation of the recycling control device according to an embodiment of the present invention;

[0036] Figure 2 This is a connection diagram of the internal and external signal connection system of an embodiment of the present invention;

[0037] Figure 3 This is a curve diagram after overload calibration is carried out using a filtering algorithm in an embodiment of the present invention;

[0038] Figure 4 This is an analysis diagram of the host computer test system in the composite environment of "ballistic overload + sinusoidal vibration" adopted by the embodiment of the present invention;

[0039] Figure 5 This is a flow chart of the full physical verification method of the recovery control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0041] The present invention proposes a full physical verification system for a recovery control device, comprising an acceleration environment simulation system, a vibration environment simulation system, an internal and external signal connection system, a host computer test system, and a data analysis system.

[0042] The acceleration environment simulation system is mainly composed of a centrifuge, which mainly includes a drive motor, a rotating arm, a slip ring and an installation tool. The acceleration environment simulation system can provide an axial overload environment in the range of 0 to 50g, and its rotating arm needs to meet the technical indicators of not less than 3m; the rate of change of the rising and falling process of the loaded acceleration needs to be greater than 0.5g / s, so that the acceleration environment simulation system can generate a certain acceleration within a shorter time range or can quickly reduce to a stationary state when a certain acceleration environment is reached.

[0043] The vibration environment simulation system is installed on the rotating arm of the acceleration environment simulation system. Figure 1 As shown, axial vibration is provided under environmental conditions with acceleration, and the vibration axis and the axis of the acceleration environment simulation system are parallel. In this embodiment, the vibration environment simulation system needs to be installed at the very end of the swing arm system, so that the effective rotation radius of the vibration environment position is not less than 3m, so as to reduce the overload simulation error caused by the excessive size of the product. The vibration environment provided by the vibration environment simulation system is a sinusoidal vibration, which can achieve a magnitude simulation range of 1 to 500 Hz, and an amplitude within a controllable range of 0 to 0.5g. The weight of the vibration environment simulation system itself does not exceed 50kg, and the power consumption is not more than 500W. The lower weight can reduce the unbalanced vibration generated by the acceleration environment simulation system during high-speed rotation.

[0044] The internal and external signal connection system is mainly used to connect the host computer test system and the recovery control device installed on the vibration environment simulation system to achieve internal and external electrical interconnection. The internal and external signal connection system is mainly composed of internal wiring board, internal connection cable, slip ring, external connection cable, external wiring board, such as Figure 2 As shown, finally, no less than 100 signal connections are realized. Among them, the power supply signal, return signal, and signal line used to power the recovery control device need to meet the connection of three or more wires to ensure that the resistance value through the slip ring is always better than 0.5Ω during the operation of the acceleration environment simulation system, so as to reduce the voltage drop on the internal and external signal connection system when the recovery control device is working.

[0045] The host computer test system is connected to the product through the internal and external signal connection system. The number of terminals of the internal and external signal connection system needs to meet the connection of more than three wires. After the connection is completed, a milliohm meter is used to test the line resistance from the internal wiring board to the same-name point of the external wiring board. The resistance needs to be less than 0.5Ω to reduce the voltage drop caused by the line resistance. The host computer test system can realize the power-on, power-off, overload telemetry signal monitoring, and timing function signal monitoring of the recovery control device, and record and store the above signals during the test. The sampling frequency of the host computer test system needs to be greater than 1kHz.

[0046] The data analysis system is installed as software on the host computer test system, including filtering algorithm module and timing signal extraction algorithm module; by comparing the real-time output overload value of the acceleration environment simulation system and the measured overload value of the recovery control device, the output voltage signal of the recovery control device under a certain overload environment is calibrated; through the overload-voltage curve of the recovery control device, the zero-position output, sensitivity and other indicators of the overload sensor inside the recovery control device are calculated. According to the zero-position output and sensitivity of the overload sensor calibrated by the recovery control device, the overload sensor voltage telemetry curve output by the recovery control device is converted into an overload curve, and the wavelet transform filtering algorithm is used to fit the smooth overload-time curve measured by the recovery control device. The overload-time curve is analyzed and compared with the execution command signal curve of the recovery control device, and finally the overload measurement accuracy and command timing accuracy of the recovery control device are obtained, and the working performance of the recovery control device under a compound overload environment is verified.

[0047] Methods for full physical verification such as Figure 5 As shown, specifically including:

[0048] S1: First perform system calibration

[0049] Connect full physical verification system and recovery control device products;

[0050] Start the host computer test system to power on the recycling control device product through the internal and external signal connection system, and test the connection correctness and resistance accuracy of the internal and external signal connection system;

[0051] Start the acceleration environment simulation system and start the calibration of the recovery control device. The calibration is based on the sensor range setting inside the recovery control device. The calibration is performed according to the overload range of 0g to 10g. Each 1g is an overload value mark point. The acceleration environment simulation system stays at each simulated overload value point for 60s to make the recovery control device work stably. The overload telemetry voltage value output by the recovery control device is obtained through the host computer test system, and the corresponding voltage value under the current overload environment is recorded. In this example, the recovery control device contains 4 overload sensor signals.

[0052] After the calibration is completed, stop the acceleration environment simulation system.

[0053] S2: Carry out the loading of the overload environment to verify and simulate the full physical environment

[0054] Start the host computer test system so that the recovery control device product can be powered on through the internal and external signal connection system, start the acceleration environment simulation system and the vibration environment simulation system, load a certain value of centrifuge overload and vibration environment to simulate the relevant environmental values ​​under the return trajectory overload. In this example, a certain small celestial body sampling return trajectory is simulated, and the loaded environmental conditions are as follows:

[0055] Condition 1: acceleration (0-10g) / slope 0.2g / dwell time 30s+3Hz sine, amplitude 0.3g;

[0056] Condition 2: acceleration (0-10g) / slope 0.2g / dwell time 30s+6Hz sine, amplitude 0.3g;

[0057] Condition 3: acceleration (0-10g) / slope 0.2g / dwell time 30s+50Hz sine, amplitude 0.3g;

[0058] Condition 4: acceleration (0-10g) / slope 0.2g / dwell time 30s+500Hz sine, amplitude 0.15g;

[0059] Condition 5: acceleration (0-10g) / slope 0.2g / dwell time 30s+3Hz sine, amplitude 0.3g;

[0060] Condition 6: acceleration (0-10g) / slope 0.2g / dwell time 30s+500Hz sine, amplitude 0.15g.

[0061] Taking working condition 1 as an example, the significance of the above environmental conditions is to start the acceleration environment simulation system, and set the working environment conditions to load from 0g to 10g acceleration at a rate of change of 0.2g / s, stay at 10g acceleration for 30s, and then decelerate to 0g at a rate of change of 0.2g / s until the centrifuge stops working. While the acceleration environment simulation system is working, the vibration environment simulation system is used to generate an axial overload with a frequency of 3Hz and an amplitude of 0.3g in real time until the centrifuge stops working. The above two environments can be cumulatively formed into a "ballistic overload + sinusoidal vibration" review working environment.

[0062] During the above process, the host computer test system monitors and records the overload telemetry signal and timing command signal output by the recovery control device in real time.

[0063] S3: Conduct calibration data analysis

[0064] Based on the data analysis system, the calibration data obtained by S1 is first analyzed. The overload telemetry data under each fixed overload value is processed by the filtering algorithm module (filter with a cutoff frequency below 1Hz) to obtain stable overload data. The overload telemetry voltage value corresponding to the current overload value is recorded, and the overload voltage values ​​corresponding to 0g, 1g, 2g...10g are recorded in turn. Figure 3 The overload value and voltage correspondence diagram shown in the figure (two specifications of overload sensors with a range of 10g and 50g are used in this example. The specific example can be determined by specific design. Generally, the range of the overload sensor is selected to meet the requirement of measuring the ballistic threshold overload. The lower the range, the higher the accuracy). According to the figure, the overload voltage value at 0g is the zero-position output value τ (unit V) of the overload sensor, and the slope of the curve is the sensitivity λ (unit mV / g) of the overload sensor. Then, when an overload value of η (unit g) is applied to the recovery control device, the output overload voltage telemetry signal of the recovery control device is:

[0065] V=τ+η×λ

[0066] S4: Conduct trigger overload and timing analysis

[0067] Based on the zero position output and sensitivity of the overload sensor obtained by S3, the overload output voltage telemetry curve of the recovery control device under different working conditions obtained by S2 is converted into an overload curve through the data analysis system, such as Figure 4 As shown, the conversion relationship is:

[0068]

[0069] Then the wavelet transform filtering analysis method is used to fit and smooth the overload curve. By comparing the smooth overload curve after processing with the timing signal of the recovery control device obtained by the host computer test system, the trigger overload G and timing T of the recovery control device when working in the review environment are obtained.

[0070] S5: Based on the indicators such as triggering overload G and timing T of the recovery control device in a full physical environment, a comparative analysis is carried out with the values ​​of the technical requirements of the recovery control device, and a comprehensive evaluation of the robustness of the control function of the recovery control device can be made.

[0071] The above-described embodiments are only preferred specific implementations of the present invention. Common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A full physical verification system for a recycling control device, characterized in that: Including acceleration environment simulation system, vibration environment simulation system, internal and external signal connection system, host computer test system and data analysis system; The vibration environment simulation system is arranged on the rotating arm of the acceleration environment simulation system, and the recovery control device to be tested is placed on the vibration environment simulation system; wherein the acceleration environment simulation system provides an axial overload environment, and the vibration environment simulation system provides an axial sinusoidal vibration environment, so that the recovery control device is in a compound overload environment; The internal and external signal connection system connects the host computer test system with the recovery control device to perform information exchange and power transmission; The host computer test system is used to control the power-off of the recovery program control device, receive the overload voltage telemetry signal and timing instruction signal sent by the recovery control device, and forward them to the data analysis system; The data analysis system calibrates the voltage signal output by the recovery control device under an axial overload environment to form an overload-voltage relationship curve; based on the overload-voltage relationship curve, the overload voltage telemetry signal output by the recovery control device under a compound overload environment is converted into an overload-time relationship curve; the overload-time relationship curve is then compared with the timing command signal of the recovery control device to verify the working performance of the recovery control device under the compound overload environment.

2. The full physical verification system of the recycling control device according to claim 1 is characterized in that: The acceleration environment simulation system provides an axial overload environment in the range of 0 to 50g, and the rate of change of the acceleration rise and fall process of the load is greater than 0.5g / s.

3. According to the full physical verification system of the recovery control device of claim 2, the rotating arm of the acceleration environment simulation system is not less than 3m.

4. The full physical verification system of the recycling control device according to claim 1 is characterized in that: The axial vibration output by the vibration environment simulation system is sinusoidal vibration, with a simulation range of 1 to 500 Hz and an amplitude of 0 to 0.5 g.

5. The full physical verification system of the recycling control device according to claim 1 is characterized in that: The internal and external signal connection system includes an internal wiring board, an internal connection cable, a slip ring, an external connection cable and an external wiring board to achieve no less than 100 signal connections; among them, the power supply signal, return signal and signal line used to recover the power supply of the control device all need to meet the connection of three or more wires, so that during the operation of the acceleration environment simulation system, the resistance value through the slip ring is always better than 0.5Ω.

6. The full physical verification system of the recycling control device according to claim 1 is characterized in that: The resistance of the single function harness from the recovery control device to the host computer test system is less than 0.5Ω.

7. The full physical verification system of the recycling control device according to claim 1 is characterized in that: The data analysis system includes a filtering algorithm module and a timing signal extraction algorithm module; the filtering algorithm module monitors the signal output of the host computer test system according to the overload environment, and obtains the overload sensor curve output data and the pyrotechnic signal execution time data.

8. A method for performing full physical verification based on the full physical verification system of the recycling control device according to claim 1, characterized in that: include: S1: Calibrate the full physical verification system of the recovery control device to obtain the overload telemetry voltage data output by the recovery control device under different simulated overload environments as calibration data; S2: Start the host computer test system, acceleration environment simulation system and vibration environment simulation system, carry out overload environment loading review, simulate the full physical environment under the return trajectory overload, monitor and record the overload voltage telemetry signal and timing command signal output by the recovery control device; S3: Analyze the calibration data obtained in step S1: process the overload telemetry voltage data under each overload value through the filtering algorithm module to obtain stable overload data, record the overload telemetry voltage value corresponding to the current overload value, and generate a corresponding relationship curve between the overload value and the voltage; Based on the overload value and voltage correspondence curve, the overload voltage value corresponding to the overload value of 0g is used as the zero position output value of the overload sensor, and the slope of the curve is the sensitivity of the overload sensor; S4: based on the zero-position output value and sensitivity of the overload sensor obtained in step S3, convert the overload voltage telemetry signal output by the recovery control device obtained in step S2 into an overload curve; compare the overload curve with the timing command signal obtained in step S2 to obtain the triggering overload G and timing T when the recovery control device is working; S5: Based on the trigger overload G and timing T when the recovery control device is working, the robustness of the control function of the recovery control device is evaluated by comparing with the technical requirement values ​​of the recovery control device.

9. The method of full physical verification according to claim 8, characterized in that: In step S1, the method for calibrating the full physical verification system of the recovery control device is: Start the host computer test system, power on the recycling control device product, and test the connection correctness and resistance accuracy of the internal and external signal connection system; Start the acceleration environment simulation system and begin the calibration of the recovery control device. The calibration is based on the sensor range setting inside the recovery control device and is performed according to the overload range formed by 0g to the maximum range. Each 1g is an overload value mark point. The acceleration environment simulation system stays at the set value at each overload value point simulated. The overload telemetry voltage value output by the recovery control device is obtained and recorded through the host computer test system. After the calibration is completed, stop the acceleration environment simulation system.

10. The method of full physical verification according to claim 8, characterized in that: In step S4, based on the zero-position output value and sensitivity of the overload sensor obtained in step S3, the overload voltage telemetry signal output by the recovery control device obtained in step S2 is converted into an overload curve, and the conversion relationship is: Wherein, τ is the zero-position output value of the overload sensor, λ is the sensitivity of the overload sensor, η is the overload value applied to the recovery control device, and V is the output overload voltage telemetry signal of the recovery control device.

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