CN106527393A - Reference model-based servo system on-orbit fault diagnosing and processing system and method - Google Patents
Reference model-based servo system on-orbit fault diagnosing and processing system and method Download PDFInfo
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- CN106527393A CN106527393A CN201610932781.7A CN201610932781A CN106527393A CN 106527393 A CN106527393 A CN 106527393A CN 201610932781 A CN201610932781 A CN 201610932781A CN 106527393 A CN106527393 A CN 106527393A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
- G05B23/0254—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model based on a quantitative model, e.g. mathematical relationships between inputs and outputs; functions: observer, Kalman filter, residual calculation, Neural Networks
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0286—Modifications to the monitored process, e.g. stopping operation or adapting control
- G05B23/0291—Switching into safety or degraded mode, e.g. protection and supervision after failure
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Mathematical Physics (AREA)
- Testing And Monitoring For Control Systems (AREA)
Abstract
The present invention relates to a reference model-based servo system on-orbit fault diagnosing and processing system and method. The reference model-based servo system on-orbit fault diagnosing and processing system comprises a servo system reference model, a servo system fault diagnosis module and a servo system fault decision module. According to the present invention, the servo system on-orbit fault diagnosing and processing problem of an on-orbit aircraft can be solved, the high-reliability autonomous flight requirements are satisfied, and a very good engineering application effect is realized.
Description
Technical field
The present invention relates to a kind of servosystem on-orbit fault Fault Diagnostic Expert System and method based on reference model, in-orbit to fly
Row device control system, especially belongs to improve the control strategy of attitude control system reliability and autonomous prosthetic, by flight
During various interference analyses, joint sensor device measurement ensures the effectiveness and reliability of diagnosis scheme.
Background technology
In-orbit spacecraft orbit motorized segment gesture stability exist larger barycenter it is traversing under, typically adopt thrust vectoring control
System, produces control moment by servo control mechanism wobble engine, reaches the purpose of control attitude of flight vehicle.Wherein electrical servo machine
Structure is important execution unit, if servosystem failure, if do not take preventive measures should be tactful with failure, system can be caused to send out
Dissipate, whole aircraft is it is possible that high-speed turnover, causes unit on device to break down or follow-up attitude stabilization overlong time.Mesh
It is many in front design that its reliability is improved by the way of hardware redundancy, it is contemplated that the complexity and cost factor of system, it is difficult to protect
The equal redundancy of each part of card servosystem, when breaking down, on the one hand switches redundant component, on the other hand will be according to system features
Carry out other process.For in orbit aerocraft, due to the impact of its running rails and overlay planes, artificial ground interference performance has
Limit, possessing autonomous fast diagnosis capability is proposed to system, servosystem once breaks down, need as fast as possible and effective
Fault diagnosis and process realize fault detect and isolate, reduction impact of the failure to system.Therefore servosystem fault diagnosis must
Real-time, autonomy must be reached, failure is tried one's best to systematic influence can be little, to Fault Isolation, control reconfiguration after, can system can
It is quick to adjust, stablize.Servo failure is usually irreversible in addition, to being difficult to again again after servosystem fault location and isolation
Enable, it is therefore desirable to reduce system erroneous judgement as far as possible.How two paradox acquirement equilibrium points of erroneous judgement and quick diagnosis are being reduced
And the difficult point of fault diagnosis.
The content of the invention
The technical problem to be solved in the present invention is:Overcome the deficiencies in the prior art, there is provided a kind of watching based on reference model
Dress system on-orbit fault Fault Diagnostic Expert System and method, take into full account under multitask aircraft difference operating mode, modeling it is uncertain
Property and interference impact, it is reliable and effective to servosystem diagnosing malfunction, isolation, and propose processing scheme, strengthen attitude control
The reliability of system.
The technology of the present invention solution：A kind of servosystem on-orbit fault Fault Diagnostic Expert System based on reference model, bag
Include：Servosystem reference model, servosystem fault diagnosis module, servosystem failure decision-making module；
Servosystem reference model, according to dynamic characteristic parameter is tested under servosystem load characteristic, is fitted servosystem
Transmission function, it is according to the SERVO CONTROL instruction that servo control module sends, online to calculate theoretical servosystem response results, to watch
Dress system fault diagnosis module provides input；
Servosystem fault diagnosis module, according to epigenetic response results and servosystem position sensor feedback
As a result contrasted, and combined sensor metrical information, servosystem is reliably diagnosed to be with the presence or absence of failure, by diagnostic result
It is sent to servosystem failure decision-making module；
Servosystem failure decision-making module, according to the diagnostic result of servosystem fault diagnosis module, if servosystem is deposited
In failure, servo control module is switched over, if failure fails to release after switching, closes sustainer and servosystem,
Into backup rail control pattern.
The servosystem fault diagnosis module realizes that process is as follows：
Servo instruction feedback information is passed to control computer by 1553 buses by servo controller, and control computer is watched
Take diagnostic module and compare the theoretical servo feedback of reference servo model output and actual servo instruction feedback, if comparison result exist compared with
Large deviation, then introduce the attitude angle deviation data auxiliary judgment that control computer control module is calculated, if attitude angle there is also compared with
Servosystem diagnostic module diagnostic result is passed to servosystem failure decision model by large deviation, then it is assumed that servosystem failure
Block.
The servosystem failure decision-making module realizes that process is as follows：
Servosystem failure decision-making module introduces servosystem failure diagnosis information and servo controller currently weighs information, if
Servosystem fault-free, then do not deal with, if servosystem is sentenced being out of order, currently weighing information according to servo controller is carried out not
With process, and processing information is changed into the corresponding flow process of control computer and parameter.
A kind of servosystem on-orbit fault its diagnosis processing method based on reference model, which includes：Servosystem refers to mould
Type, servosystem fault diagnosis and servosystem failure decision making process；
Servosystem reference model, by servosystem the result of dynamic test fitting servo transmission function under loading condition, and
Discretization, according to the SERVO CONTROL instruction that servo control module sends, Jing difference equations are calculated, online to calculate theoretical servosystem
Response results, provide input for servosystem fault diagnosis；
Servosystem fault diagnosis, is contrasted with servo feedback result according to epigenetic response results,
If there is relatively large deviation, then it is assumed that servosystem there may be failure, with reference to sensor metrical information, servo is reliably diagnosed to be
System whether there is failure, and diagnostic result is sent to servosystem failure decision-making；
Servosystem failure decision-making, if servosystem has failure, starts servo control module switching command, switching control
After module, stop sentencing a period of time, again fault diagnosis, if failure fails to release, close sustainer and servosystem, enter
Backup rail control pattern.
Present invention advantage compared with prior art is：
(1) present invention proposes the online servo malfunction approach based on reference model, takes into full account servosystem major failure
Pattern, carries out frequency sweep to servosystem under real load, and obtaining its dynamic characteristic carries out transfer function fitting, as far as possible accurately
Description servosystem genuine property, it is ensured that the reliability of fault diagnosis.
(2) present invention is in failure diagnostic process, it is contemplated that system is started to control, servo failover process is tied to fault diagnosis
The impact of fruit, take stop sentencing, the method such as attitude information subsidiary discriminant, it is ensured that system diagnostics reliability.
Description of the drawings
Fig. 1 is the composition frame chart of the present invention；
Fig. 2 is the servosystem fault diagnosis scheme in the present invention；
Fig. 3 is the transfer function fitting interface in the present invention；
Fig. 4 is the dynamic characteristics of servo system test platform schematic diagram in the present invention；
Fig. 5 is the servosystem fault diagnosis flow scheme in the present invention.
Specific embodiment
The present invention is described in further detail below with reference to drawings and Examples：
As shown in figure 1, the present invention includes：Servosystem reference model, servosystem fault diagnosis module, servosystem event
Barrier decision-making module：
Step one, servosystem reference model are obtained
Based on the servo fault diagnosis of reference model, it is the reliability for ensureing diagnosis, the accuracy of servo model is extremely weighed
Will.Consider that arrow carries computer computation ability, servo system models are simulated using transmission function mode.Servosystem transmits letter
Number is obtained by the fitting of servo dynamic characteristic, servo dynamic characteristic test, as shown in figure 4, using servosystem in actual loading shape
Using sinusoidal point by point scanning method (abbreviation frequency sweep method) test under state, then calculated by least-square fitting approach.
Servo is sent by test equipment command signal is waved for sequence x (n)=Ax sin(ωnTs), n=0,1,2 ...,
L-1, A in formulaxFor amplitude, ω be angular frequency, n be periodicity n, TsFor sample frequency.
Command signal is sent to ICU, and ICU is controlled to servo control mechanism, by installed in load
On electromotor, angular displacement sensor device measurement servo control mechanism implementing result, carries out least square fitting to test data.A most young waiter in a wineshop or an inn
Fitting process is taken advantage of to assume that system is output as
Y (n)=Ay sin(ωnTs+θ)
=Ay sin(ωnTs)cosθ+Ay cos(ωnTs)sinθ
In formula：AyFor output signal amplitude, ω is output signal frequency, and θ is phase of output signal value.
Then system can be expressed as in the frequency characteristic of frequencies omega
In formulaFor dynamic characteristics of servo system amplitude, θ is dynamic characteristics of servo system phase place
Dynamic test data are fitted, and servo dynamic characteristic are obtained as shown in figure 3, entering line number to servosystem
Modeling is learned, whole system transmission function primitive form is obtained, by the way of transfer function fitting, servosystem transmission letter is obtained
Number, shown in equation below
Step 2, servosystem fault diagnosis
As shown in Fig. 2 the input of servosystem fault diagnosis is servo model output and servo feedback data, servo system
System model is acquisition in step one, is needed its discretization in control computer, and formula is as follows
F1 α(n)=δαα=I, II
In formula：δαFor servo instruction,For servo model network parameter,Export for servo model.
Servo fault diagnosis flow scheme is as shown in Figure 5, it is considered to which servo model starts to control characteristic with true servo and has differences, every time
Servo work starts to stop sentencing 1s, the monitoring attitude of flight vehicle information during stopping sentencing, if attitude angle is seriously overproof, then it is assumed that servo system
System failure, closing electromotor carries out inspection process.After stopping sentencing end, by mode input servo theory pursuit gain and servosystem
Value of feedback is contrasted, if the two differs greatly, then it is assumed that servo there may be failure, for the reliability for ensureing to diagnose, is treated
Failure adds up certain number of times, in conjunction with attitude information, if attitude angle is overproof, then it is assumed that servosystem failure.
The design of servo fault diagnosis thresholding is the important step of fault diagnosis scheme, and main design parameters have stops sentencing week
Phase, stop sentencing during the overproof value of attitude angle, servo fault threshold, servo failure auxiliary attitude angular threshold.The principle of threshold scheme is
After the system failure is ensured, system can be recovered, and the maximum attitude angle of setting is less than certain value, according to systematic parameter, according to following public affairs
Formula calculates Diagnostic Time, attitude angle threshold value.
Engine thrust value based on P in formula；PzFor attitude control engine thrust magnitude；xr-xcFor torque arm length；Izz is used to rotate
Amount；Δ t is servo fault time；ωdFor fail-over time magnitude of angular velocity；For pivot angle amplitude limit value；ω0Before servo failure
Angular velocity, Δ t2Attitude control engine eliminate angular velocity interference time, Δ θ be servo failure attitude angle overshoot, Δ θ2To eliminate angle
Velocity posture angle overshoot.
Step 3, servosystem troubleshooting
As shown in figure 5, servosystem is aircraft key unit, if which breaks down, sustainer normally cannot make
With so its drive circuit link has redundant component, when servo failure is judged, consideration first switches redundant component.
During switching, posture control system is in runaway condition, and servo does not carry out fault diagnosis, but in order to ensure posture control system in can
Control scope, only carries out the overproof differentiation of attitude angle.Pay special attention to, when servo switches redundant component, attitude angle threshold scheme will have
Certain surplus, it is to avoid handoff procedure is still sentenced and is out of order so that troubleshooting is invalid.
In order to reduce the impact of failure, attitude angle information can be replaced attitude angle information.
Claims (4)
1. a kind of servosystem on-orbit fault Fault Diagnostic Expert System based on reference model, it is characterised in that include：Servosystem
Reference model, servosystem fault diagnosis module, servosystem failure decision-making module；
Servosystem reference model, according to dynamic characteristic parameter is tested under servosystem load characteristic, fitting servosystem is transmitted
Function, it is according to the SERVO CONTROL instruction that servo control module sends, online to calculate theoretical servosystem response results, it is servo system
System fault diagnosis module provides input；
Servosystem fault diagnosis module, according to epigenetic response results and servosystem position sensor feedback result
Contrasted, and combined sensor metrical information, servosystem is reliably diagnosed to be with the presence or absence of failure, diagnostic result is sent
Give servosystem failure decision-making module；
Servosystem failure decision-making module, according to the diagnostic result of servosystem fault diagnosis module, if servosystem has event
Barrier, switches over to servo control module, if failure fails to release after switching, closes sustainer and servosystem, enters
Backup rail control pattern.
2. a kind of servosystem on-orbit fault Fault Diagnostic Expert System based on reference model according to claim 1, its feature exist
In：The servosystem fault diagnosis module realizes that process is as follows：
Servo instruction feedback information is passed to control computer by 1553 buses by servo controller, and control computer servo is examined
Disconnected module compares the theoretical servo feedback of reference servo model output and actual servo instruction feedback, if comparison result exist it is larger partially
Difference, then introduce the attitude angle deviation data auxiliary judgment that control computer control module is calculated, if attitude angle there is also it is larger partially
Servosystem diagnostic module diagnostic result is passed to servosystem failure decision-making module by difference, then it is assumed that servosystem failure.
3. a kind of servosystem on-orbit fault Fault Diagnostic Expert System based on reference model according to claim 1, its feature exist
In：The servosystem failure decision-making module realizes that process is as follows：
Servosystem failure decision-making module introduces servosystem failure diagnosis information and servo controller currently weighs information, if servo
System failure, then do not deal with, if servosystem is sentenced being out of order, currently weighs information according to servo controller and is not existed together
Reason, and processing information is changed into the corresponding flow process of control computer and parameter.
4. a kind of servosystem on-orbit fault its diagnosis processing method based on reference model, it is characterised in that include：Servosystem
Reference model, servosystem fault diagnosis and servosystem failure decision making process；
Servosystem reference model, by the result of dynamic test fitting servo transmission function under loading condition, and discretization, according to watching
The SERVO CONTROL instruction of control module transmission is taken, Jing difference equations are calculated, online to calculate theoretical servosystem response results, to watch
Dress system fault diagnosis provides input；
Servosystem fault diagnosis, is contrasted with servo feedback result according to epigenetic response results, if depositing
In relatively large deviation, then it is assumed that servosystem there may be failure, with reference to sensor metrical information, servosystem is reliably diagnosed to be
With the presence or absence of failure, diagnostic result is sent to into servosystem failure decision-making；
Servosystem failure decision-making, if servosystem has failure, starts servo control module switching command, switching control module
Afterwards, stop to sentence a period of time, then fault diagnosis again, if failure fails to release, close sustainer and servosystem, enter
Backup rail control pattern.
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Cited By (2)
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| CN106919055A (en) * | 2017-04-18 | 2017-07-04 | 上海航天控制技术研究所 | A kind of in-orbit prediction scheme method for designing of SGCMG failures based on robust pseudoinverse manipulation rate |
| CN112415980A (en) * | 2020-11-04 | 2021-02-26 | 上海莘汭驱动技术有限公司 | Fault diagnosis method of control system based on direct current electric mechanism simulator |
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| CN106527393B (en) | 2019-03-12 |
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