Cold air propulsion system fault diagnosis and reconstruction method based on pressure transmission

Abstract

The invention provides a fault diagnosis and reconstruction method for a cold air propulsion system based on pressure transmission. The method is suitable for spacecrafts with fault diagnosis requirements of the cold air propulsion system provided with a pressure sensor. Different from an existing method for indirectly diagnosing whether the propulsion system breaks down or not according to whether the air injection amount in unit time is abnormal or not, the invention designs a cold air propulsion system fault diagnosis and reconstruction strategy based on pressure transmission. The strategy comprises four algorithm modules: a pressure transmission fault detection and processing module, a pressure transmission integration-based cold air propulsion system fault diagnosis module, a pressure transmission-only-based propulsion system fault diagnosis module and a cold air propulsion system reconstruction strategy module. The four modules are organically combined, and the problems of fault diagnosis and reconstruction of the cold air propulsion system based on pressure transmission are systematically solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of spacecraft attitude control, and relates to a cold gas propulsion system fault diagnosis and reconstruction method based on pressure transmission. BACKGROUND

[0002] At present, the cold gas propulsion system is widely used in the attitude control tasks of various low, medium and high orbit satellites due to its high reliability, low cost and use of gaseous working medium, etc. The traditional cold gas propulsion system fault diagnosis method is to indirectly diagnose whether the jet amount per unit time is abnormal. The cold gas propulsion system has the potential to assist in the diagnosis of the propulsion system due to the particularity of its configuration, which can provide certain measurement information with the pressure sensor. However, there is no systematic method for the fault diagnosis of the pressure sensor and the diagnosis of the propulsion system based on pressure transmission.

[0003] Therefore, it is necessary to propose a new cold gas propulsion system fault diagnosis and reconstruction method based on pressure transmission to realize the autonomous fault diagnosis and reconstruction of the satellite cold gas propulsion system and improve the stability and safety of the satellite operation. SUMMARY

[0004] The technical problem solved by the application is to overcome the shortcomings of the prior art and propose a cold gas propulsion system fault diagnosis and reconstruction method based on pressure transmission. The method has strong universality and can be used for the autonomous fault diagnosis and reconstruction of a type of cold gas propulsion system with a pressure sensor.

[0005] The technical solution of the application is a cold gas propulsion system fault diagnosis and reconstruction method based on pressure transmission. The cold gas propulsion system includes two branches that are hot backups of each other, which are denoted as A branch and B branch. Each branch is supplied with gas by a respective buffer gas container. Each buffer gas container is configured with two backup pressure sensors for detecting the pressure value. When the pressure drops to a certain threshold, the electromagnetic valve on the branch is controlled to perform a gas supplement operation from the upstream high-pressure gas cylinder. The method comprises the following steps:

[0006] The pressure transmission on-off state and pressure measurement of the A and B branches are recorded, and the gas supplement instruction pulse width of the electromagnetic valves on the A and B branches is recorded. The pressure sensors are fault detected according to the consistency of the pressure transmission measurement and the gas supplement action information, and the faulty pressure sensor is cut off.

[0007] In the non-gas supplement stage, S1 and S2 are sequentially executed.

[0008] S1, according to the pressure sensor measurement and the jet statistical information, the fault diagnosis of each branch of the cold gas propulsion system is carried out, whether the pressure sensor measurement change and the jet statistical change in a period of time are in the normal range, and whether the relative values of the two are in the normal range are judged, whether the branch of the propulsion system is faulty is comprehensively judged, if the branch is faulty, the electromagnetic valve of the branch is closed; for the branch without fault, enter S2;

[0009] S2, whether the measurement values of the two pressure sensors of the branch without fault are consistent is judged to determine whether the pressure sensor is faulty, if faulty, the faulty pressure sensor is cut off; if not faulty, whether the pressure sensor is faulty is further judged by the three-to-two way, if faulty, the faulty pressure sensor is cut off.

[0010] Preferably, the pressure sensor fault detection step comprises:

[0011] The pressure measurement values of the two pressure sensors on the A branch are recorded as PM0 and PM2, and the pressure measurement values of the two pressure sensors on the B branch are recorded as PM1 and PM3;

[0012] The on-duty states of the two pressure sensors on the A branch are recorded as F_PMInsys[0] and F_PMInsys[2], and the on-duty states of the two pressure sensors on the B branch are recorded as F_PMInsys[1] and F_PMInsys[3], the value of 1 indicates that the pressure sensor is on duty, the value of 0 indicates that the pressure sensor is not on duty, and the initial value is 1, i.e. all four pressure sensors are on duty;

[0013] The air supply instruction switch pulse width of the pressure control electromagnetic valve on the A branch is obtained as TGas[0], and the air supply instruction switch pulse width of the pressure control electromagnetic valve on the B branch is obtained as TGas[1];

[0014] If F_PMInsys[i] = 1, the branch where the pressure sensor i is located has a charging action and |PMi-PMi_Lst|<1e-5 for N_PMNoUpdate consecutive times, then set F_PMHealth[i] = 0 (i = 0, 1, 2, 3);

[0015] If F_PMInsys[i] = 1, and |PMi-PMi_Lst|>0.1 for N_PMOverRate times within T_PMOverRate seconds, then set F_PMHealth[i] = 0 (i = 0, 1, 2, 3);

[0016] Wherein, PMi and PMi_Lst are the current measurement value and the historical value of the pressure sensor i;

[0017] N_PMNoUpdate is a pressure sensor measurement update fault judgment count threshold;

[0018] N PMOverRate is the pressure measurement over limit fault judgment count threshold value;

[0019] F PMHealth[i] = 0 represents that the pressure sensor i is faulty.

[0020] Preferably, whether a branch propulsion system is faulty is judged by the following way:

[0021] For a branch with at least one normal pressure sensor, record the inflation time TIM of the current branch M, determine the time interval ΔTcharge from the last pressure adjustment time to the current time, the total jet time TOM of the current branch; M takes the value of A or B branch; set the two fault scores PS_Score1[M], PS_Score2[M] of the electromagnetic valve upstream of the M branch;

[0022] Calculate IM = 44 * TIM / ΔTcharge, OM = TOM / ΔTcharge;

[0023] If the upstream electromagnetic valve of branch M is on duty and OM > 0.15 and IM / OM > 1.5, then PS_Score1[M] = PS_Score1[M] + 2 is assigned;

[0024] Otherwise, PS_Score1[M] = max(PS_Score1[M] - 1, 0);

[0025] If F_PSInsys[M] = 1 and OM < 0.05 and IM > 0.3, then PS_Score2[M] = PS_Score2[M] + 2 is assigned;

[0026] Otherwise, PS_Score2[M] = max(PS_Score2[M] - 1, 0);

[0027] If PS_Score1[M] >= 3 or PS_Score2[M] >= 3, then set the branch electromagnetic valve health flag F_PSHealth[M] = 0, i.e. the M branch propulsion system is faulty, and close the M branch electromagnetic valve.

[0028] Preferably, in the S2 step, for the two pressure sensors of a non-faulty branch, if the two pressure measurement values are inconsistent, then inconsistency scoring is performed, and if the score exceeds the threshold value, then it is determined that the pressure sensor is faulty.

[0029] Preferably, it is assumed that the two pressure sensors of the current non-faulty branch are J1 and J2; the on-duty states of the two pressure sensors are F_PMInsys[J1], F_PMInsys[J2], and the measurement values are PM J1 and PM J2, respectively.

[0030] If F PMInsys [J1] = 1 and F PMInsys [J2] = 1 and |PM J1 - PM J2| > 0.1:

[0031] If |PM J1 - P| > |PM J2 - P|, then PM J1 DiffScore++;

[0032] Otherwise, PM J2 DiffScore++;

[0033] If F PMInsys [J1] = 1 and F PMInsys [J2] = 1 and |PM J1 - PM J2| ≤ 0.1, then

[0034] PM J1 DiffScore = max(PM J1 DiffScore - 1, 0)

[0035] PM J2 DiffScore = max(PM J2 DiffScore - 1, 0);

[0036] If PM J1 DiffScore ≥ PMDiffLmt, then F PMHealth [J1] = 0, PM J1 DiffScore = 0, PM J2 DiffScore = 0;

[0037] If PM J2 DiffScore ≥ PMDiffLmt, then F PMHealth [J2] = 0, PM J1 DiffScore = 0, PM J2 DiffScore = 0;

[0038] Where P is the nominal pressure of the gas capacitance;

[0039] PM J1 DiffScore and PM J2 DiffScore represent the inconsistency scores of the two pressure sensors;

[0040] PMDiffLmt represents the inconsistency score threshold of the pressure sensor measurement for determining the pressure sensor fault;

[0041] F PMHealth [J1], F PMHealth [J2] represent the health flags of the two pressure sensors J1 and J2, and 0 means fault.

[0042] Preferably, the two-out-of-three judgment is performed in the following manner:

[0043] If F PMInsys [J1] = 1 and F PMInsys [J2] = 0 and |PM J1 - P| > 0.1 for N PMOverLmt consecutive times, set F PMHealth [J1] = 0;

[0044] If F_PMInsys[J1] = 0 and F_PMInsys[J2] = 1 and |PMJ2-P| > 0.1 continuously N_PMOverLmt times, set F_PMHealth[J2] = 0;

[0045] Wherein, N_PMOverLmt represents the threshold of the number of times of exceeding the nominal pressure in the case of consistent pressure measurement.

[0046] A pressure transmitter-based cold gas propulsion system fault diagnosis and reconstruction device, comprising a pressure transmitter fault detection and processing module, a pressure transmitter-based comprehensive cold gas propulsion system fault diagnosis module, a propulsion system fault diagnosis module based only on pressure transmitter, and a cold gas propulsion system reconstruction strategy module.

[0047] The pressure transmitter fault detection and processing module detects the fault of the pressure sensor according to the consistency of the pressure transmitter measurement and the air supply action information, and notifies the cold gas propulsion system reconstruction strategy module of the detection result.

[0048] The pressure transmitter-based comprehensive cold gas propulsion system fault diagnosis module comprehensively diagnoses the faults of each branch of the cold gas propulsion system according to the pressure sensor measurement and the jet statistical information, monitors whether the pressure sensor measurement change and the jet statistical change within a period of time are within the normal range, and whether the relative values of the two are within the normal range, comprehensively judges whether the propulsion system branch is faulty, and sends the branch detection result to the propulsion system fault diagnosis module based only on pressure transmitter and the cold gas propulsion system reconstruction strategy module.

[0049] The propulsion system fault diagnosis module based only on pressure transmitter judges whether the pressure sensor is faulty according to the measurement values of the two pressure sensors of the fault-free branch based on the detection result of the pressure transmitter-based comprehensive cold gas propulsion system fault diagnosis module, and sends the judgment result to the cold gas propulsion system reconstruction strategy module.

[0050] The cold gas propulsion system reconstruction strategy module, according to the received result, if the pressure sensor is faulty, then removes the faulty pressure sensor, and if the branch is faulty, then closes the electromagnetic valve of the faulty branch.

[0051] Preferably, the propulsion system fault diagnosis module based only on pressure transmitter first judges whether the pressure sensor is faulty according to whether the measurement values of the two pressure sensors of the fault-free branch are consistent, and if both pressure sensors of the two branches are fault-free, then further judges whether the pressure sensor is faulty through the two-out-of-three mode.

[0052] A computer readable storage medium, the computer readable storage medium stores a computer program, the computer program is executed by a processor to realize the steps of the pressure transmitter-based cold gas propulsion system fault diagnosis and reconstruction method.

[0053] A pressure-transmission-based cryogenic gas propulsion system fault diagnosis and reconstruction device, comprising:

[0054] One or more processors;

[0055] Storage device for storing one or more programs,

[0056] When the one or more programs are executed by the one or more processors, the one or more processors implement the pressure-transmission-based cryogenic gas propulsion system fault diagnosis and reconstruction method.

[0057] The advantages of the present application compared with the prior art are:

[0058] The present application fully exploits pressure sensor measurement information and systematically solves the problem of pressure-transmission-based cryogenic gas propulsion system fault diagnosis and reconstruction, thereby enhancing the stability and safety of satellite operation.

[0059] The present method is highly versatile and can be used for autonomous fault diagnosis and reconstruction of a class of cold gas propulsion systems equipped with pressure sensors. By fully exploiting pressure-transmission implicit information, the present method ingeniously and systematically designs a pressure-transmission-based cryogenic gas propulsion system fault diagnosis and reconstruction method through the organic combination of a pressure-transmission fault detection and processing module, a pressure-transmission-based comprehensive cryogenic gas propulsion system fault diagnosis module, a pressure-transmission-only propulsion system fault diagnosis module, and a cold gas propulsion system reconstruction strategy module. The present method relies on mature components of the satellite control system and does not require the addition of new measurement or execution components. The required calculation amount of the algorithm is small, and no additional computing resources are required. Therefore, the present method has good market prospects. BRIEF DESCRIPTION OF DRAWINGS

[0060] Figure 1 A flowchart of the pressure-transmission-based cryogenic gas propulsion system fault diagnosis and reconstruction method of the present application;

[0061] Figure 2 A propulsion subsystem structure diagram. DETAILED DESCRIPTION

[0062] The features and advantages of the present application will become more apparent with the following detailed description.

[0063] The present application provides a pressure-transmission-based cryogenic gas propulsion system fault diagnosis and reconstruction method suitable for spacecraft equipped with pressure sensors for cold gas propulsion system fault diagnosis requirements. As shown in Figure 2As shown, the cold gas propulsion system of the present application comprises two branches, denoted as branch A and branch B respectively. Each branch has a buffer gas tank for supplying gas to the downstream nozzle. Each buffer gas tank is equipped with two pressure sensors for detecting pressure values, and when the pressure drops to a certain threshold, the upstream gas is supplied through the pressure control solenoid valve, as shown in Figure 1 As shown, the cold gas propulsion system of the present application comprises two branches, denoted as branch A and branch B respectively. Each branch has a buffer gas tank for supplying gas to the downstream nozzle. Each buffer gas tank is equipped with two pressure sensors for detecting pressure values, and when the pressure drops to a certain threshold, the upstream gas is supplied through the pressure control solenoid valve, as shown in

[0064] (1) Pressure sensor fault detection and processing;

[0065] Record the pressure measurement values of the two pressure sensors in branch A as PM0 and PM2, and the pressure measurement values of the two pressure sensors in branch B as PM1 and PM3.

[0066] Record the on-duty status of the two pressure sensors in branch A as F_PMInsys[0] and F_PMInsys[2], and the on-duty status of the two pressure sensors in branch B as F_PMInsys[1] and F_PMInsys[3]. A value of 1 indicates that the pressure sensor is on duty, and a value of 0 indicates that the pressure sensor is not on duty. The initial value is 1, i.e. all four pressure sensors are on duty.

[0067] Obtain the gas supply instruction switch pulse width of the pressure control solenoid valve in branch A as TGas[0], and the gas supply instruction switch pulse width of the pressure control solenoid valve in branch B as TGas[1].

[0068] For branches A and B, the pressure sensors are detected for faults based on the pressure sensor measurement and gas supply action information, and the consistency of the two pressure sensor measurement changes and the gas supply amount is monitored. If the pressure sensor measurement changes and the gas supply amount of each branch are inconsistent, it is determined that the pressure sensor of the branch is faulty.

[0069] (a) If F_PMInsys[i] = 1, there is a gas supply action in this branch and |PMi-PMi_Lst| < 1e-5 for N_PMNoUpdate consecutive times, then set F_PMHealth[i] = 0 (i = 0, 1, 2, 3).

[0070] (b) If F_PMInsys[i] = 1, and |PMi-PMi_Lst| > 0.1 for N_PMOverRate times within T_PMOverRate seconds, then set F_PMHealth[i] = 0 (i = 0, 1, 2, 3).

[0071] Where PMi and PMi_Lst are the current and historical measurement values of pressure sensor i;

[0072] N_PMNoUpdate is the pressure sensor measurement update fault judgment threshold value; the recommended value is 100.

[0073] N PMOverRate is the threshold of pressure measurement overrate fault judgment. The recommended value is 10.

[0074] F PMHealth[i] = 0 represents that the pressure sensor i is faulty.

[0075] (2) Fault diagnosis of the cold gas propulsion system based on pressure measurement; In the stable operation phase of the satellite (in the non-gas supplement phase, i.e. during normal gas use when the pressure on the A or B branch is above a certain threshold, which is equivalent to the stable operation period), when there is a normal working pressure sensor (i.e. as long as there is a normal pressure sensor on the branch), the propulsion system is comprehensively diagnosed based on pressure measurement and jet statistical information. It is determined whether the pressure measurement and jet statistical quantity change within a certain period of time are within the normal range, and whether the relative values of the two are within the normal range, to comprehensively judge whether the branch of the propulsion system is faulty. (a) For the A branch, if the A branch gas tank performs pressure regulation and charging operation in the current period, record the charging time as TIA = TGas[0], record the time interval ΔTcharge = t - Tcharge[0] between the current satellite time and the last pressure regulation time Tcharge[0], and the total jet time of the branch from the last pressure regulation time to the current satellite time is TOA; Tcharge[0] = t; IA = 44 TIA / ΔTcharge, OA = TOA / ΔTcharge; If F_PSInsys[0] = 1 and OA > 0.15 and IA / OA > 1.5, then assign PS_Score1[0] = PS_Score1[0] + 2; Otherwise, PS_Score1[0] = max(PS_Score1[0] - 1, 0); If F_PSInsys[0] = 1 and OA < 0.05 and IA > 0.3, then assign PS_Score2[0] = PS_Score2[0] + 2; Otherwise, PS_Score2[0] = max(PS_Score2[0] - 1, 0); If PS_Score1[0] >= 3 or PS_Score2[0] >= 3, then set F_PSHealth[0] = 0, i.e. close the A branch self-locking valve, i.e. the A branch is faulty. t represents the current satellite time, F_PSInsys[0] represents the on-duty flag of the upstream electromagnetic valve of the A branch, and PS_Score1[0] and PS_Score2[0] represent the fault scores of the upstream electromagnetic valve of the A branch. (b) For B branch, if the B branch gas capacity has been pressure-regulated charging operation in this cycle, record the charging time as TIB=TGas[1], the time interval ΔTcharge=t-Tcharge[1] between the current star time and the last pressure-regulated time Tcharge[1], and the total jet time of the branch between the last pressure-regulated time and the current star time as TOB; Tcharge[1]=t; IB=44 TIB / ΔTchBrge,OB=TOB / ΔTchBrge; If F_PSInsys[1]=1 and OB>0.15 and IB / OB>1.5, then PS_Score1[1]=PS_Score1[1]+2. Otherwise, PS_Score1[1]= mBx(PS_Score1[1]-1, 0); If F_PSInsys[1]=1 and OB<0.05 and IB>0.3, then PS_Score2[1]=PS_Score2[1]+2. Otherwise, PS_Score2[1]= mBx(PS_Score2[1]-1, 0); If PS_Score1[1]>=3 or PS_Score2[1]>=3, then set F_PSHeBlth[1]=0, close the B branch self-locking valve, i.e. the B branch propulsion system is faulty.

[0094] Wherein F_PSInsys[1] represents the on-duty flag of the B branch upstream solenoid valve, and PS_Score1[1] and PS_Score2[1] represent the fault scores of the B branch upstream solenoid valve.

[0095] (3) Propulsion system fault diagnosis based only on pressure transmission;

[0096] For branch A, if the two pressure transmission measurements of the branch are inconsistent, inconsistency scoring is performed, and if the score exceeds a threshold, it is determined that the pressure transmission is faulty;

[0097] (a) if F PMInsys [0] = 1 and F PMInsys [2] = 1 and |PM0-PM2| > 0.1:

[0098] If |PM0-0.17| > |PM2-0.17|, then PM0DiffScore++, i.e. PM0DiffScore count value is incremented by 1;

[0099] Otherwise, PM2DiffScore++;

[0100] (b) if F PMInsys [0] = 1 and F PMInsys [2] = 1 and |PM0-PM2| ≤ 0.1, then

[0101] PM0DiffScore = max(PM0DiffScore-1,0)

[0102] PM2DiffScore = max(PM2DiffScore-1,0);

[0103] (c) if PM0DiffScore ≥ PMDiffLmt, then F PMHealth [0] = 0, PM0DiffScore = 0, PM2DiffScore = 0;

[0104] (d) if PM2DiffScore ≥ PMDiffLmt, then F PMHealth [2] = 0, PM0DiffScore = 0, PM2DiffScore = 0;

[0105] For branch B, if the two pressure transmission measurements of the branch are inconsistent, inconsistency scoring is performed, and if the score exceeds a threshold, it is determined that the pressure transmission is faulty;

[0106] (a) if F PMInsys [1] = 1 and F PMInsys [3] = 1 and |PM1-PM3| > 0.1:

[0107] If |PM1-0.17| > |PM3-0.17|, then PM1DiffScore++;

[0108] Otherwise, PM3DiffScore++;

[0109] (b) if F PMInsys [1] = 1 and F PMInsys [3] = 1 and |PM1-PM3| ≤ 0.1, then

[0110] PM1DiffScore = max(PM1DiffScore - 1, 0)

[0111] PM3DiffScore = max(PM3DiffScore - 1, 0);

[0112] (c) if PM1DiffScore ≥ PMDiffLmt, then F_PMHealth[1] = 0, PM1DiffScore = 0, PM3DiffScore = 0;

[0113] (d) if PM3DiffScore ≥ PMDiffLmt, then F_PMHealth[3] = 0, PM1DiffScore = 0, PM3DiffScore = 0;

[0114] where PM0DiffScore and PM2DiffScore represent the inconsistency score of two pressure transmitter measurements of A branch;

[0115] PM1DiffScore and PM3DiffScore represent the inconsistency score of two pressure transmitter measurements of B branch;

[0116] PMDiffLmt represents the inconsistency score threshold of pressure transmitter measurements for determining pressure transmitter fault; the recommended value is 10.

[0117] For A branch, if the two pressure transmitter measurements of this branch are consistent, then determine whether the pressure transmitter is faulty by means of two out of three;

[0118] (a) if F_PMInsys[0] = 1 and F_PMInsys[2] = 0 and |PM0 - 0.17| > 0.1 for N_PMOverLmt consecutive times, then set F_PMHealth[0] = 0;

[0119] (b) if F_PMInsys[0] = 0 and F_PMInsys[2] = 1 and |PM2 - 0.17| > 0.1 for N_PMOverLmt consecutive times, then set F_PMHealth[2] = 0;

[0120] where N_PMOverLmt represents the threshold of exceeding nominal pressure times for determining pressure transmitter fault under the condition that the two pressure transmitter measurements are consistent; the recommended value is 10.

[0121] For B branch, determine whether the pressure transmitter is faulty by means of two out of three;

[0122] (a) If F PMInsys [1] = 1 and F PMInsys [3] = 0 and |PM1-0.17| > 0.1 for N PMOverLmt consecutive times, set F PMHealth [1] = 0;

[0123] (b) If F PMInsys [1] = 0 and F PMInsys [3] = 1 and |PM3-0.17| > 0.1 for N PMOverLmt consecutive times, set F PMHealth [3] = 0;

[0124] (4) Cold gas propulsion system reconstruction.

[0125] If a faulty pressure sensor is detected, the faulty pressure sensor is cut off. When a propulsion system branch is diagnosed as faulty, the propulsion system is reconstructed according to the reconstruction strategy, that is, the electromagnetic valve of the faulty branch is closed, and only the normal branch is used for jet control.

[0126] According to the second aspect of the present application, a pressure-transmission-based cold gas propulsion system fault diagnosis and reconstruction device is also provided, comprising:

[0127] A pressure-transmission fault detection and processing module detects faults of pressure sensors according to consistency of pressure sensor measurements and air charging action information, and informs a cold gas propulsion system reconstruction strategy module of the detection results;

[0128] A pressure-transmission-comprehensive cold gas propulsion system fault diagnosis module comprehensively diagnoses faults of each branch of the cold gas propulsion system according to pressure sensor measurements and jet statistics information, monitors whether pressure sensor measurement changes and jet statistics changes within a period of time are within a normal range, and whether relative values of the two are within a normal range, comprehensively judges whether a propulsion system branch is faulty, and sends branch detection results to a pressure-transmission-only propulsion system fault diagnosis module and a cold gas propulsion system reconstruction strategy module;

[0129] The pressure-transmission-only propulsion system fault diagnosis module judges whether a pressure sensor is faulty according to measurement values of two pressure sensors of a non-faulty branch based on detection results of the pressure-transmission-comprehensive cold gas propulsion system fault diagnosis module, and sends the judgment results to the cold gas propulsion system reconstruction strategy module;

[0130] The cold gas propulsion system reconstruction strategy module, according to the received results, cuts off a faulty pressure sensor if the pressure sensor is faulty, and closes an electromagnetic valve of a faulty branch if the branch is faulty.

[0131] According to the third aspect of the present application, a pressure-transmission-based cold gas propulsion system fault diagnosis and reconstruction device is also provided, comprising:

[0132] One or more processors;

[0133] a storage device for storing one or more programs,

[0134] when the one or more programs are executed by the one or more processors, the one or more processors implement the method for diagnosing and reconfiguring a fault of a pressure transmission based cryogenic gas propulsion system according to the first aspect.

[0135] According to a fourth aspect of the present application, there is also provided a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for diagnosing and reconfiguring a fault of a pressure transmission based cryogenic gas propulsion system according to the first aspect.

[0136] The details of the application described herein are not intended to limit the scope of the application.

Claims

1. A pressure-based cold gas propulsion system fault diagnosis and reconfiguration method, the cold gas propulsion system comprising two branches, A branch and B branch, which are hot backups of each other, each branch being supplied with gas by a respective buffer gas tank, each buffer gas tank being equipped with two backup pressure sensors for detecting the pressure value, and when the pressure drops to a certain threshold, controlling the electromagnetic valve on the branch to perform a gas supplement operation from the upstream high-pressure gas cylinder, characterized in that Comprise: Record the pressure measurement of the two branches of A and B, and the pulse width of the air supply command switch of the electromagnetic valve of the two branches of A and B, and perform fault detection on the pressure sensor according to the consistency of the pressure measurement and the air supply action information, and cut off the faulty pressure sensor; In the non-air supply stage, S1 and S2 are executed in sequence: S1, according to the pressure sensor measurement and the jet statistical information, the fault diagnosis of each branch of the cold gas propulsion system is carried out, whether the pressure sensor measurement change and the jet statistical change in a period of time are within the normal range, and whether the relative value of the two is within the normal range is judged, whether the branch is faulty is comprehensively judged, if the branch is faulty, the electromagnetic valve of the branch is closed; Enter S2 for the branch without fault; S2, judge whether the pressure sensor is faulty according to whether the measurement values of the two pressure sensors of the branch without fault are consistent, if faulty, cut off the faulty pressure sensor; if not, further judge whether the pressure sensor is faulty through the way of two out of three, if faulty, cut off the faulty pressure sensor.

2. The method according to claim 1, wherein: The fault detection step of the pressure sensor comprises: Record the pressure measurement values of the two pressure sensors on branch A as PM0 and PM2, and the pressure measurement values of the two pressure sensors on branch B as PM1 and PM3; Record the on-duty state of the two pressure sensors on branch A as F_PMInsys[0] and F_PMInsys[2], and the on-duty state of the two pressure sensors on branch B as F_PMInsys[1] and F_PMInsys[3], the value of 1 indicates that the pressure sensor is on duty, and the value of 0 indicates that the pressure sensor is not on duty, the initial value is 1, that is, all four pressure sensors are on duty; Get the air supply command switch pulse width of the pressure control electromagnetic valve on branch A as TGas[0], and the air supply command switch pulse width of the pressure control electromagnetic valve on branch B as TGas[1]; If F_PMInsys[i] = 1, the branch where the pressure sensor i is located has air charging action and |PMi-PMi_Lst| < 1e-5 continuously N_PMNoUpdate times, then set F_PMHealth[i] = 0 (i = 0, 1, 2, 3); If F_PMInsys[i] = 1, and |PMi-PMi_Lst| > 0.1 exceeds N_PMOverRate times within T_PMOverRate seconds, then set F_PMHealth[i] = 0 (i = 0, 1, 2, 3); Wherein, PMi and PMi_Lst are the current measurement value and the history value of the pressure sensor i; N_PMNoUpdate is the fault judgment count threshold of pressure sensor measurement without updating; N_PMOverRate is the fault judgment count threshold of pressure sensor measurement over limit; F_PMHealth[i] = 0 represents that the pressure sensor i is faulty.

3. The method according to claim 1, wherein: Whether the propulsion system of a branch occurs a fault is judged by the following way: For the branch with at least one normal pressure sensor, record the inflation time TIM of the current branch M, determine the time interval ΔTcharge from the last pressure adjustment time to the current star time, the total jet time TOM of the current branch M; M represents the A or B branch; set the two fault scores PS_Score1[M] and PS_Score2[M] of the electromagnetic valve upstream of the M branch; Calculate IM=44*TIM / ΔTcharge, OM=TOM / ΔTcharge; If the electromagnetic valve upstream of the branch M is on duty and OM>0.15 and IM / OM>1.5, then PS_Score1[M]=PS_Score1[M]+2; Otherwise, PS_Score1[M]=max(PS_Score1[M]-1,0); If F_PSInsys[M]=1 and OM<0.05 and IM>0.3, then PS_Score2[M]=PS_Score2[M]+2; Otherwise, PS_Score2[M]=max(PS_Score2[M]-1,0); If PS_Score1[M]>=3 or PS_Score2[M]>=3, then set the health flag F_PSHealth[M] of the branch electromagnetic valve to 0, i.e. the M branch of the propulsion system is faulty, and the M branch electromagnetic valve is closed.

4. The method according to claim 1, wherein: In step S2, for the two pressure sensors of the fault-free branch, if the two pressure sensor measurements are inconsistent, then inconsistency scoring is performed, and if the score exceeds the threshold, then the pressure sensor is determined to be faulty.

5. The cold gas propulsion system fault diagnosis and reconstruction method based on pressure transmission according to claim 4, characterized in that: Assuming that the two pressure sensors of the current fault-free branch are J1 and J2, the on-duty states of the two pressure sensors are F_PMInsys[J1] and F_PMInsys[J2], and the measurements are PM J1 and PM J2, respectively; If F_PMInsys[J1]=1 and F_PMInsys[J2]=1 and |PM J1-PM J2|>0.1: If |PM J1-P|>|PM J2-P|, then PM J1DiffScore++; Otherwise, PM J2DiffScore++; If F_PMInsys[J1]=1 and F_PMInsys[J2]=1 and |PM J1-PM J2|≤0.1, then PM J1DiffScore=max(PM J1DiffScore-1,0) PM J2DiffScore=max(PM J2DiffScore-1,0); If PM J1DiffScore≥PMDiffLmt, then F_PMHealth[J1]=0, PM J1DiffScore=0, and PM J2DiffScore=0. If PM J2DiffScore≥PMDiffLmt, then F_PMHealth[J2]=0, PM J1DiffScore=0, PM J2DiffScore=0; Wherein, P is the nominal pressure of the gas capacity; PM J1DiffScore and PM J2DiffScore represent the inconsistency score of the measurement of the two pressure sensors; PMDiffLmt represents the pressure sensor measurement inconsistency score threshold for determining pressure sensor fault; F_PMHealth[J1] and F_PMHealth[J2] represent the health flags of the J1 and J2 pressure sensors, and 0 represents a fault.

6. The method according to claim 5, wherein: The two-out-of-three judgment is performed in the following manner: If F_PMInsys[J1]=1 and F_PMInsys[J2]=0 and |PMJ1-P|>0.1 for N_PMOverLmt consecutive times, set F_PMHealth[J1]=0; If F_PMInsys[J1]=0 and F_PMInsys[J2]=1 and |PMJ2-P|>0.1 for N_PMOverLmt consecutive times, set F_PMHealth[J2]=0; Wherein, N_PMOverLmt represents the threshold of the number of times that the pressure sensor measurement value exceeds the nominal pressure under the condition that the two pressure sensor measurement values are consistent.

7. A pressure-based cold-gas propulsion system fault diagnosis and reconfiguration apparatus, characterized by It includes pressure sensor fault detection and processing, cold gas propulsion system fault diagnosis module based on pressure sensor integration, propulsion system fault diagnosis module based only on pressure sensor, cold gas propulsion system reconstruction strategy module; The pressure sensor fault detection and processing module detects the fault of the pressure sensor according to the consistency of the pressure sensor measurement and the air supply action information, and notifies the cold gas propulsion system reconstruction strategy module of the detection result; The cold gas propulsion system fault diagnosis module based on pressure sensor integration comprehensively diagnoses the faults of each branch of the cold gas propulsion system according to the pressure sensor measurement and the jet statistical information, monitors whether the pressure sensor measurement change and the jet statistical change within a period of time are within the normal range, and whether the relative values of the two are within the normal range, and comprehensively judges whether the propulsion system branch is faulty, and sends the branch detection result to the propulsion system fault diagnosis module based only on pressure sensor and the cold gas propulsion system reconstruction strategy module; The propulsion system fault diagnosis module based only on pressure sensor judges whether the pressure sensor is faulty according to the measurement values of the two pressure sensors of the fault-free branch based on the detection result of the cold gas propulsion system fault diagnosis module based on pressure sensor integration, and sends the judgment result to the cold gas propulsion system reconstruction strategy module; The cold gas propulsion system reconstruction strategy module, according to the received result, if the pressure sensor is faulty, the faulty pressure sensor is cut off, if the branch is faulty, the electromagnetic valve of the faulty branch is closed.

8. The pressure-based fault diagnosis and reconfiguration apparatus for a cold gas propulsion system according to claim 7, characterized in that: The propulsion system fault diagnosis module based only on pressure sensor first judges whether the pressure sensor is faulty according to whether the measurement values of the two pressure sensors of the fault-free branch are consistent, and if both pressure sensors of the two branches are fault-free, further judges whether the pressure sensor is faulty in the two-out-of-three manner.

9. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 8. The computer program is executed by a processor to implement the steps of the pressure transmission-based cold gas propulsion system fault diagnosis and reconstruction method according to any one of claims 1-6.

10. A pressure-based cold-gas propulsion system fault diagnosis and reconfiguration apparatus, comprising: Comprise: One or more processors; Storage devices for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the pressure transmission-based cold gas propulsion system fault diagnosis and reconstruction method according to any one of claims 1-6.

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