Satellite moment gyroscope state diagnosis system and method based on micro-vibration technology

Abstract

The invention provides a satellite moment gyroscope state diagnosis system and method based on a micro-vibration technology, and the system comprises a moment gyroscope signal collector which is used for collecting a satellite moment gyroscope data stream; the signal processor is connected with the moment gyroscope signal collector and is used for receiving and processing the data stream; the mode state monitoring and diagnosing device is connected with the signal processor and is used for analyzing and diagnosing the processed data stream; and submitting a test result to a final decision-making system through threshold judgment and model-based reasoning. According to the invention, on-orbit high-precision measurement can be realized by using micro-vibration data, compared with other large-scale measurement equipment, the micro-vibration sensor is small in size and light in weight, and the satellite on-orbit engineering applicability is high; the adopted state monitoring and diagnosing device not only can add the working mode and the state of the moment gyroscope preset on the ground into a database, but also can learn the working information of the moment gyroscope of the on-orbit satellite at the same time, the state database is continuously corrected and perfected, and the intelligent degree is high.

Description

Technical Field

[0001] The present invention relates to the field of aerospace test diagnosis, and particularly to a satellite torque gyro state diagnosis system and method based on micro-vibration technology. Background Art

[0002] Micro-vibration refers to vibrations of a small magnitude. In a satellite, due to the weightless environment, the vibration amplitude is small, and the sources generally come from the operation of moving components. When the satellite performs space missions, the torque gyro works as a disturbing mechanism for a long time. Its different rotational speeds and working modes contain very complex signals. Ordinary signals are usually avoided because they are easy to identify, but micro-vibration signals are difficult to identify and unstable, and usually have a great impact on satellite sensitive loads, especially high-precision optical devices. With the development of China's high-resolution and high-precision earth observation satellite technology, satellite loads and structural systems are paying more and more attention to its impact.

[0003] Through a literature search of the prior art, it is found that the patent document CN105890831A discloses a measuring device and method for measuring the torque output of a high-precision control torque gyro. This method uses a two-axis air-bearing platform as a measuring platform to achieve high-precision measurement of the torque gyro. Compared with the two-axis air-bearing platform method for measuring torque, the present invention uses linear angular acceleration to achieve micro-vibration measurement of the torque gyro. Micro-vibration data can be used to achieve high-precision on-orbit measurement. At the same time, through state monitoring and a diagnostic device, the working state of the torque gyro can be analyzed in real time and responded in a timely manner, which has more engineering application value in the engineering problems of satellite torque gyro state monitoring.

[0004] The patent document CN106896821B discloses an angular momentum management method for a variable-speed control torque gyro. This method uses an angular momentum management algorithm to achieve large-angle and fast attitude variable-speed control of the torque gyro. This method performs torque compensation based on simulation results, but it is not suitable for measurement under certain conditions (such as small-scale disturbances). Compared with the angular momentum management algorithm, the method for measuring the torque gyro based on micro-vibration used in the present invention can be used for various on-orbit mechanical situations, and has a wide application range.

[0005] The patent document CN102778891B discloses a parameter selection method for an on-board control torque gyro group vibration isolation platform. This method realizes the problem of avoiding the failure of other on-board systems by selecting the parameters of the on-board control torque gyro group vibration isolation platform. However, in view of the characteristics of the torque gyro, this method requires the installation of a vibration isolation platform. The vibration isolation platform includes six struts, which connect the torque gyro and the satellite body, and has high requirements for the system.

[0006] Patent document CN108931783A discloses a device and method for measuring the performance of a high-precision laser ranging system. This method is applicable to the real-time calibration of the performance of various laser ranging systems and also applicable to fields such as the coaxial transceiver detection of optoelectronic systems combining active and passive technologies. However, it is not suitable for measurement under certain conditions (such as torque gyroscopes in on-orbit environments). Compared with the algorithms for laser ranging, the method adopted in the present invention uses torque gyroscopes for measurement, which can be used in various on-orbit mechanical situations and has a wide range of applications.

[0007] Patent document CN1945250A discloses a high-precision online dynamic balance detection device for a magnetic levitation flywheel based on hardware phase-locking, which is a device for high-precision unbalance online detection. This patent document can detect the unbalance amount of the magnetic levitation flywheel at a set rotational speed, has strong data processing capabilities and a fast operation speed, and thus can achieve a high balance accuracy, which can greatly improve the control accuracy of the magnetic levitation flywheel rotor. However, because the micro-vibration signals are difficult to identify and unstable, they usually have a very large impact on satellite sensitive loads, especially high-precision optical devices. In contrast, the present invention is applicable to a stronger environment, has a strong ability to resist space electronic interference, and has high stability. Summary of the Invention

[0008] Aiming at the defects in the prior art, the purpose of the present invention is to provide a satellite torque gyroscope state diagnosis system and method based on micro-vibration technology.

[0009] According to the satellite torque gyroscope state diagnosis system based on micro-vibration technology provided by the present invention, it includes:

[0010] A torque gyroscope signal collector, which is used to collect the data stream of the satellite torque gyroscope;

[0011] A signal processor, which is connected to the torque gyroscope signal collector and receives and processes the data stream;

[0012] A mode state monitoring and diagnoser, which is connected to the signal processor and is used to analyze and diagnose the processed data stream;

[0013] Through threshold judgment, the test results are submitted to the final decision-making system based on model-based reasoning.

[0014] Preferably, a monitoring and diagnosis system architecture is established with the satellite torque gyroscope as the specific object, and the system function hierarchical model is divided.

[0015] Preferably, the torque gyroscope signal collector includes a number of linear angular acceleration sensors, and transmits the collected data stream of the satellite torque gyroscope to the signal processor as a time series with voltage as the amplitude; by collecting the linear angular acceleration of the torque gyroscope, the micro-vibration data stream of the torque gyroscope is obtained.

[0016] Preferably, the signal processor is used for feature extraction, data analysis algorithms, and real-time storage of data; after receiving the micro-vibration parameters of the on-orbit satellite torque gyroscope in real time, it performs format conversion, preprocessing, and compression of the micro-vibration data; and monitors the working states of the on-orbit satellite as a whole and the torque gyroscope in real time according to the micro-vibration state parameters, and performs threshold judgment and readability processing on the original data.

[0017] Preferably, the mode state monitoring and diagnostic device includes a state diagnostic machine, a knowledge learning machine, and a diagnostic knowledge base; the state diagnostic machine extracts corresponding diagnostic knowledge from the diagnostic knowledge base and completes corresponding diagnostic subtasks by using diagnostic methods and diagnostic rules; the knowledge learning machine is used to update the diagnostic knowledge base.

[0018] Preferably, a remote diagnostic system is established based on information technology, and satellite telemetry parameters are received through the TT&C system and control commands are sent to provide intelligent diagnosis and auxiliary decision-making support for the on-orbit satellite.

[0019] Preferably, the diagnostic result is transmitted to the final decision-making system through the satellite communication interface via LVDS or RS422 communication to complete the operation of the satellite torque gyroscope.

[0020] Preferably, the system submits the test result to the final decision-making system through threshold judgment and model-based reasoning, and the satellite decision-making system establishes a state evaluation system to obtain the on-orbit evaluation of the working mode and state of the torque gyroscope through evaluation indicators.

[0021] A method for diagnosing the state of a satellite torque gyroscope based on micro-vibration technology provided by the present invention includes:

[0022] Step S1: Collect the linear angular acceleration data of the satellite torque gyroscope and transmit it to the signal processor as a time series with voltage as the amplitude;

[0023] Step S2: Use the signal processor to process the acceleration data, including feature extraction, data analysis, format conversion, and preprocessing;

[0024] Step S3: Use the mode state monitoring and diagnostic device to analyze the processed data and generate a diagnostic result;

[0025] Step S4: Submit the diagnostic result to the final decision-making system through the communication interface.

[0026] Preferably, the step S3 includes:

[0027] Step S3.1: Make the diagnostic task control module allocate diagnostic tasks to the state diagnostic module;

[0028] Step S3.2: Make the state diagnostic engine extract corresponding diagnostic knowledge from the diagnostic knowledge base and complete corresponding diagnostic subtasks by using diagnostic methods and diagnostic rules;

[0029] Step S3.3: After the diagnosis task is completed, return the diagnosis result to the diagnosis task control module, and transmit the obtained knowledge to the knowledge learning machine through the message passing structure; the knowledge learning machine stores the newly obtained knowledge after training into the diagnosis knowledge base.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. The present invention uses micro-vibration data to achieve high-precision in-orbit measurement. Compared with other large-scale measurement devices, the micro-vibration sensor is small in size and light in weight, and has strong engineering applicability in orbit for satellites.

[0032] 2. The state monitoring and diagnoser adopted by the present invention can not only add the preset torque gyro working modes and states on the ground to the database, but also learn the working information of the torque gyro of the on-orbit satellite at the same time, continuously revise and improve the state database, with a high degree of intelligence, and its working mode can better reflect the state in a zero-gravity environment.

[0033] Other beneficial effects of the present invention will be elaborated through the introduction of specific technical features and technical solutions in the specific implementation manner. Those skilled in the art should be able to understand the beneficial technical effects brought by the said technical features and technical solutions through these introductions. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, objects and advantages of the present invention will become more apparent:

[0035] Figure 1 It is a structural schematic diagram of the present invention.

[0036] Figure 2 It is a structural schematic diagram of the mode state monitoring and diagnoser in the present invention.

[0037] Figure 3 It is a method flow chart of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0038] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those of ordinary skill in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0039] Referring to Figure 1 as shown, a satellite torque gyro state diagnosis system based on micro-vibration technology includes:

[0040] Moment gyro signal collector, signal processor, mode status monitoring and diagnoser;

[0041] The moment gyro signal collector is connected to the signal processor, and the signal processor is connected to the force status monitoring and diagnoser; taking the satellite moment gyro as a specific object, based on a systematic analysis of its diagnostic requirements, a monitoring and diagnosis system architecture is established, and the system function hierarchy model is divided; through threshold judgment, the test results are submitted to the final decision-making system based on model-based reasoning.

[0042] The moment gyro signal collector includes several linear angular acceleration sensors, and collects the data stream of the satellite moment gyro and transmits it to the signal processor as a time series with voltage as the amplitude. What is collected by the signal is the linear angular acceleration of the moment gyro, and the micro-vibration data stream of the moment gyro is obtained.

[0043] The signal processor includes feature extraction, data analysis algorithms, data real-time storage, etc., to achieve the purpose of monitoring data and controlling the data acquisition system; it can receive the micro-vibration parameters of the on-orbit satellite moment gyro in real time, and perform format conversion, preprocessing and compression of the micro-vibration data. According to the micro-vibration state parameters, the working states of the on-orbit satellite as a whole and the moment gyro are monitored in real time, and threshold judgment and readability processing are performed on the original data.

[0044] Refer to Figure 2 As shown, the mode status monitoring and diagnoser is mainly composed of three parts: a status diagnosis machine, a knowledge learning machine, and a diagnosis knowledge base. After the diagnosis task control module assigns a diagnosis task to the status diagnosis module, the diagnosis perceptron reads the status information of the equipment to be diagnosed in the status database and transmits the relevant parameters to the status diagnosis engine. The status diagnosis engine extracts the corresponding diagnosis knowledge from the diagnosis knowledge base and uses appropriate diagnosis methods and diagnosis rules to complete the corresponding diagnosis subtasks. After the diagnosis task is completed, the diagnosis result is returned to the diagnosis task control module, and the obtained knowledge is transmitted to the knowledge learning machine through the message passing structure. The knowledge learning machine stores the newly obtained knowledge after training in the diagnosis knowledge base for future use. Through the above methods, the diagnosis knowledge of the status diagnosis module can be continuously expanded, and the diagnosis ability and intelligence level of the status diagnosis module can be improved.

[0045] Utilize the advantages of information technology to establish a remote diagnosis system for on-orbit satellite moment gyros to improve the diagnosis efficiency. The TT&C system receives satellite telemetry parameters and sends control commands; the diagnostic center server includes a collector, a signal processor, a status monitoring and diagnoser, etc., to provide intelligent diagnosis and auxiliary decision-making support for on-orbit satellites.

[0046] The diagnosis result is transmitted to the decision-making system through the satellite communication interface via LVDS or RS422 communication to complete the operation of the satellite moment gyro.

[0047] The system makes a threshold judgment and submits the test results to the final decision-making system based on the inference of the model. The satellite decision-making system establishes a state evaluation system and obtains the on-orbit evaluation of the working mode and state of the torque gyro through evaluation indicators.

[0048] The use of micro-vibration data adopted in the present invention can achieve high-precision on-orbit measurement. Compared with other large-scale measurement devices, the micro-vibration sensor is small in volume and light in mass, and has strong engineering applicability on the satellite in orbit.

[0049] The above is the basic embodiment of the present invention. The following further illustrates the technical solution of the present invention through a preferred embodiment.

[0050] Embodiment 1

[0051] This embodiment provides a satellite torque gyro state diagnosis system based on micro-vibration technology, including a torque gyro signal collector, a signal processor, and a mode state monitoring and diagnoser. The torque gyro signal collector is connected to the signal processor, and the signal processor is connected to the force state monitoring and diagnoser, where:

[0052] (1) The torque gyro signal collector uses several linear angular acceleration sensors to collect the data stream of the satellite torque gyro and transmits the time series with voltage as the amplitude to the signal processor. The signal collected is the micro-vibration data stream of the torque gyro, and the linear angular acceleration of the micro-vibration of the torque gyro is obtained.

[0053] (2) The signal processor can receive the micro-vibration parameters of the on-orbit satellite torque gyro in real time and perform format conversion, preprocessing, and compression of the micro-vibration data.

[0054] (3) The mode state monitoring and diagnoser mainly consists of three parts: a state diagnosis machine, a knowledge learning machine, and a diagnosis knowledge base.

[0055] The satellite torque gyro state diagnosis system based on micro-vibration technology provided by the present invention has the technical characteristics of high precision and intelligence compared with the prior art; this embodiment also provides a satellite torque gyro state diagnosis method based on micro-vibration technology, and its steps are as follows:

[0056] Step 1: In the monitoring of the on-orbit satellite torque gyro, a high-precision sensor, namely a linear angular accelerometer, is used, and a shielded cable is used, which can sense the micro-vibration signal and has anti-interference ability;

[0057] Step 2: Let the signal processor collect the data stream of the satellite torque gyro and separate and extract useful weak features under the strong noise background;

[0058] Step 3: Make the signal processor perform signal pre-inspection and preprocessing on the collected micro-vibration signal stream, and transmit the processed signal to the mode state monitoring and diagnoser through the data transmission module;

[0059] Step 4: After receiving the diagnostic request sent by the vibration monitoring module, the fault diagnosis module first performs mode and status diagnosis using the local knowledge base. If it can be identified, the working mode, working status, and maintenance control strategy are given. If the mode or status cannot be determined, it can seek help from the remote diagnosis center for diagnosis.

[0060] Step 5: The diagnosis module mainly consists of three parts: a status diagnosis machine, a knowledge learning machine, and a diagnosis knowledge base. After the diagnosis task control module assigns a diagnosis task to the diagnosis module, the diagnosis perception machine reads the status information of the equipment to be diagnosed in the status database and transmits the relevant parameters to the status diagnosis engine. The status diagnosis engine extracts the corresponding diagnosis knowledge from the diagnosis knowledge base and uses appropriate diagnosis methods and diagnosis rules to complete the corresponding diagnosis subtasks. After the diagnosis task is completed, the diagnosis result is returned to the diagnosis task control module, and the obtained knowledge is transmitted to the knowledge learning machine through the message passing structure. The knowledge learning machine stores the newly obtained knowledge after training in the diagnosis knowledge base for future use. In this way, the diagnosis knowledge of the status diagnosis module can be continuously expanded, and the diagnosis ability and intelligence level of the status diagnosis module can be improved.

[0061] Step 6: Transmit the diagnosis result to the decision-making system through the satellite communication interface via LVDS or RS422 communication to determine the operation of the torque gyro.

[0062] The state monitoring and diagnostic device adopted by the present invention can not only add the working mode and status of the torque gyro preset on the ground to the database, but also learn the working information of the torque gyro of the on-orbit satellite at the same time, continuously correct and improve the status database, with a high degree of intelligence, and its working mode can better reflect the state in the zero-gravity environment.

[0063] Those skilled in the art know that in addition to implementing the system and its various devices, modules, and units provided by the present invention in the form of pure computer-readable program code, the method steps can be logically programmed to enable the system and its various devices, modules, and units provided by the present invention to be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers, etc. to achieve the same functions. Therefore, the system and its various devices, modules, and units provided by the present invention can be regarded as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be regarded as the structure within the hardware component; the devices, modules, and units for implementing various functions can also be regarded as either software modules for implementing the method or the structure within the hardware component.

[0064] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A satellite torque gyro state diagnosis system based on micro-vibration technology, characterized in that, Comprising: A torque gyro signal collector, which is used to collect the data stream of the satellite torque gyro; A signal processor, connected to the torque gyro signal collector, for receiving and processing the data stream; A mode status monitoring and diagnostic device, connected to the signal processor, for analyzing and diagnosing the processed data stream; Through threshold judgment, the test results are submitted to the final decision-making system based on model-based reasoning.

2. The satellite torque gyro state diagnosis system based on the micro-vibration technology according to claim 1, wherein Taking the satellite torque gyro as the specific object, a monitoring and diagnostic system architecture is established, and the system function hierarchy model is divided.

3. The satellite torque gyro state diagnosis system based on micro-vibration technology according to claim 1, characterized in that, The torque gyro signal collector includes a number of linear angular acceleration sensors, and transmits the collected data stream of the satellite torque gyro to the signal processor as a time series with voltage as the amplitude; by collecting the linear angular acceleration of the torque gyro, the micro-vibration data stream of the torque gyro is obtained.

4. The satellite torque gyro state diagnosis system based on the micro-vibration technology according to claim 3, wherein The signal processor is used for feature extraction, data analysis algorithms, and real-time storage of data; after receiving the micro-vibration parameters of the on-orbit satellite torque gyro in real time, it performs format conversion, preprocessing, and compression of the micro-vibration data; according to the micro-vibration state parameters, it monitors the working state of the on-orbit satellite as a whole and the torque gyro in real time, and performs threshold judgment and readability processing on the original data.

5. The satellite torque gyro state diagnosis system based on the micro-vibration technology according to claim 1, characterized in that The mode status monitoring and diagnostic device includes a status diagnostic machine, a knowledge learning machine, and a diagnostic knowledge base; the status diagnostic machine extracts corresponding diagnostic knowledge from the diagnostic knowledge base and completes the corresponding diagnostic subtasks by using diagnostic methods and diagnostic rules; the knowledge learning machine is used to update the diagnostic knowledge base.

6. The satellite torque gyro state diagnosis system based on the micro-vibration technology according to claim 1, characterized in that Based on information technology, a remote diagnostic system is established, which receives satellite telemetry parameters through the TT&C system and sends control commands to provide intelligent diagnosis and auxiliary decision-making support for on-orbit satellites.

7. The satellite torque gyro state diagnosis system based on the micro-vibration technology according to claim 1, wherein The diagnostic results are transmitted to the final decision-making system through the satellite communication interface via LVDS or RS422 communication to complete the operation of the satellite torque gyro.

8. The satellite torque gyro state diagnosis system based on the micro-vibration technology according to claim 1, characterized in that, The system submits the test results to the final decision-making system through threshold judgment and model-based reasoning. The satellite decision-making system establishes a status evaluation system and obtains the on-orbit evaluation of the working mode and status of the torque gyro through evaluation indicators.

9. A method for diagnosing the state of a satellite torque gyro based on micro-vibration technology, based on the satellite torque gyro state diagnosis system based on micro-vibration technology according to any one of claims 1-8, characterized in that, Comprising: Step S1: Collect the linear angular acceleration data of the satellite torque gyro and transmit it to the signal processor as a time series with voltage as the amplitude; Step S2: Use the signal processor to process the acceleration data, including feature extraction, data analysis, format conversion, and preprocessing; Step S3: Use the mode status monitoring and diagnostic device to analyze the processed data and generate diagnostic results; Step S4: Submit the diagnostic results to the final decision-making system through the communication interface.

10. The satellite torque gyro state diagnosis method based on the micro-vibration technology according to claim 9, characterized in that The said Step S3 includes: Step S3.1: Let the diagnostic task control module assign diagnostic tasks to the status diagnostic module; Step S3.2: Let the status diagnostic engine extract corresponding diagnostic knowledge from the diagnostic knowledge base and complete the corresponding diagnostic subtasks by using diagnostic methods and diagnostic rules; Step S3.3: When the diagnostic task is completed, return the diagnostic results to the diagnostic task control module, and transmit the obtained knowledge to the knowledge learning machine through the message passing structure; the knowledge learning machine stores the newly obtained knowledge after training into the diagnostic knowledge base.

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