CN-122017276-A - Method, system, equipment and storage medium for collecting and processing high real-time rotating speed of spaceborne flywheel

CN122017276ACN 122017276 ACN122017276 ACN 122017276ACN-122017276-A

Abstract

The invention relates to the technical field of measurement and control of a satellite-borne flywheel, in particular to a method, a system, equipment and a storage medium for collecting and processing the high real-time rotating speed of the satellite-borne flywheel, which comprises the following steps of S1, generating a multi-bit cyclic pulse signal, and controlling a long-period pulse counter and a short-period pulse counter to be started in a staggered manner at a fixed time interval delta T based on the signal; S2, latching the current value of each counter before the next starting pulse comes, synchronously updating the latest latched count values in all the long-period counter and the short-period counter to a public register, S3, synchronously reading CNT1 and CNT2 from the public register, wherein the maximum delay of the end time and the reading time of the corresponding measuring window is not more than deltaT, and judging the flywheel movement trend based on the numerical relation of CNT1 and CNT 2. According to the invention, the maximum aging error of the rotating speed data is reduced to delta T, so that strict time alignment and association comparison of different scale data are realized, the data aging and state sensing capability are improved, and better data support is provided for satellite high-precision attitude control.

Inventors

Ji Binghua
ZHANG JINTAO
ZHU JIANHUI
BAO DI
TIAN QINGYU

Assignees

上海航天计算机技术研究所

Dates

Publication Date: 20260512
Application Date: 20260205

Claims (10)

1. The method for collecting and processing the high real-time rotating speed of the spaceborne flywheel is characterized by comprising the following steps of: s1, generating a multi-bit cyclic pulse signal with a period of T, and controlling a first number of long-period pulse counters and a second number of short-period pulse counters to be started in a staggered mode at a fixed time interval delta T based on the cyclic pulse signal, wherein the counting period of the long-period pulse counter is T1, the counting period of the short-period pulse counter is T2, and the counting period of the short-period pulse counter is T1> T2; S2, latching the current count value of each counter before the corresponding next starting pulse comes at the end of the counting period of the counter, and synchronously updating the latest latched long-period pulse count value in all the long-period pulse counters and the latest latched short-period pulse count value in all the short-period pulse counters to a common register; S3, synchronously reading a long-period pulse count value CNT1 and a short-period pulse count value CNT2 from the public register, wherein the maximum time delay between the end time of a measurement time window corresponding to each of the long-period pulse count value CNT1 and the short-period pulse count value CNT2 and the reading time is not greater than the time interval delta T, and judging the movement trend of the flywheel in the corresponding time period based on the numerical relation of the long-period pulse count value CNT1 and the short-period pulse count value CNT 2.
2. The method for acquiring and processing the high real-time rotational speed of the spaceborne flywheel according to claim 1, wherein in step S1, generating a multi-bit cyclic pulse signal with a period of T comprises: generating a cyclic pulse signal en_sp [ N-1:0] with a bit width of N bits, wherein N is an integer greater than 1; In the cyclic pulse signal, from the lowest bit en_sp [0], a valid pulse is sequentially generated by the next high bit at intervals of deltat, and after traversing all bits once in the period t=n×deltat, the cycle is started from en_sp [0 ].
3. The method according to claim 2, wherein in step S1, controlling the first number of long-period pulse counters and the second number of short-period pulse counters to be started alternately at a fixed time interval Δt comprises: Setting the first number of long-period pulse counters equal to N, wherein each long-period pulse counter is respectively and uniquely associated with one bit in the cyclic pulse signal en_sp [ N-1:0], and when the associated bit generates a valid pulse, the corresponding long-period pulse counter is cleared and starts a counting period with the period of T1=T; Setting a second number of short-period pulse counters equal to N/2, wherein each short-period pulse counter is respectively associated with two specific bits in the cyclic pulse signal en_sp [ N-1:0], the two associated bits are separated by N/2 positions in a bit traversing sequence of the cyclic pulse signal, and when any associated bit generates a valid pulse, the corresponding short-period pulse counter is cleared and starts a counting period of T2=T/2.
4. A method for acquiring and processing a high real-time rotational speed of a satellite-borne flywheel according to claim 3, wherein the bit width n=8, the fixed time interval Δt=62.5 ms, the counting period t1=0.50 s of the long pulse counter, and the counting period t2=0.25 s of the short pulse counter.
5. A method for acquiring and processing a high real-time rotational speed of a satellite-borne flywheel according to claim 3, wherein in step S2, latching the current count value of each counter before the arrival of the corresponding next start pulse at the end of the counting period of the counter comprises: When a bit in the cyclic pulse signal en_sp [ N-1:0] generates a valid pulse, a long-period pulse counter and a short-period pulse counter associated with the bit are triggered, and the two counters latch the current count value in the current counting period before the two counters are cleared and start to count for a new round.
6. The method of claim 5, wherein in step S2, the step of synchronously updating the latest latched long-period pulse count value in all the long-period pulse counters and the latest latched short-period pulse count value in all the short-period pulse counters to a common register includes: the public register comprises a long period counting register cntA and a short period counting register cntB which are respectively used for storing the latest latched long period pulse counting value and short period pulse counting value; After each latching operation, the latest latched long-period pulse count value is written into the long-period count register cntA, meanwhile, the latest latched short-period pulse count value is written into the short-period count register cntB, the writing time of the two count values is strictly synchronous, and the updating period of the public register is equal to the fixed time interval deltat.
7. The method for collecting and processing the high real-time rotational speed of the spaceborne flywheel according to claim 1, wherein in step S3, the determining the movement trend of the flywheel in the corresponding period based on the numerical relationship between the long-period pulse count value CNT1 and the short-period pulse count value CNT2 includes: If the ratio of the long-period pulse count value CNT1 to the short-period pulse count value CNT2 is approximately equal to T1/T2, judging that the flywheel rotates at an approximately constant speed in a period corresponding to the long period T1; If the ratio of the long-period pulse count value CNT1 to the short-period pulse count value CNT2 is smaller than T1/T2, judging that the flywheel is in an accelerating rotation trend in a period corresponding to the long period T1; If the ratio of the long period pulse count value CNT1 to the short period pulse count value CNT2 is greater than T1/T2, it is determined that the flywheel is in a deceleration rotation trend within a period corresponding to the long period T1.
8. The utility model provides a high real-time rotational speed collection processing system of spaceborne flywheel which characterized in that includes: The timing beat generation and phase distribution module is used for generating a multi-bit cyclic pulse signal with a period of T, and controlling a first number of long-period pulse counters and a second number of short-period pulse counters to be started in a staggered mode at a fixed time interval delta T based on the cyclic pulse signal, wherein the counting period of the long-period pulse counter is T1, the counting period of the short-period pulse counter is T2, and T1> T2 is met; The parallel counting and synchronous latching updating module is used for latching the current count value of each counter before the corresponding next starting pulse arrives when the counting period of the counter is finished, and synchronously updating the latest latched long-period pulse count value in all the long-period pulse counters and the latest latched short-period pulse count value in all the short-period pulse counters to a common register; The data reading and motion analysis module is used for synchronously reading a long-period pulse count value CNT1 and a short-period pulse count value CNT2 from the public register, wherein the maximum time delay between the end time of a measurement time window corresponding to each of the long-period pulse count value CNT1 and the short-period pulse count value CNT2 and the reading time is not more than the time interval delta T, and the motion trend of the flywheel in the corresponding time period is judged based on the numerical relation between the long-period pulse count value CNT1 and the short-period pulse count value CNT 2.
9. A computer device comprising a memory and a processor, the memory having stored therein computer readable instructions which, when executed by the processor, cause the processor to perform the steps of a method of high real-time rotational speed acquisition processing of a spaceborne flywheel as claimed in any one of claims 1 to 7.
10. A storage medium storing computer readable instructions which, when executed by one or more processors, cause the one or more processors to perform the steps of a method of high real-time rotational speed acquisition processing of a spaceborne flywheel as claimed in any one of claims 1 to 7.

Description

Method, system, equipment and storage medium for collecting and processing high real-time rotating speed of spaceborne flywheel Technical Field The invention relates to the technical field of measurement and control of spaceborne flywheels, in particular to a method, a system, equipment and a storage medium for collecting and processing the high real-time rotating speed of the spaceborne flywheels. Background The satellite-borne flywheel is a key executing mechanism of the satellite attitude and orbit control subsystem, and the accurate adjustment and stable control of the satellite attitude are realized by changing the rotating speed of the satellite-borne flywheel to generate reaction moment. The flywheel rotation speed information is core input for torque calculation, state feedback and fault diagnosis by the attitude and orbit control algorithm, and the accuracy and the relativity between data of the acquisition directly determine the accuracy and the response speed of satellite attitude control. At present, a pulse counting method with a single counting window is commonly adopted for the rotation speed collection of the satellite-borne flywheel. The method typically sets a count period of a fixed duration (e.g., 0.50 seconds or 0.25 seconds), latches and outputs the count value after each period ends, and then clears the counter to begin the next period count. This conventional approach suffers from two significant drawbacks: First, the timeliness of data is poor. Due to the use of a single, continuous counting window, there is an inherent delay of up to one counting period from the end of the counting window to the time the data is read by the user. For example, the maximum time error of the output data is up to 0.50 seconds for a 0.50 second count period, and the error is also up to 0.25 seconds for a 0.25 second period. The larger fixed delay can not meet the severe requirements of high-dynamic and high-precision satellite attitude control on state feedback instantaneity. Secondly, the multi-scale data is isolated and cannot be effectively associated. If the system collects rotational speed data of different time units (e.g. 0.50 second count is needed for macroscopic trend determination and 0.25 second count is needed for quick response), the two data in the conventional method originate from independent and random counting windows at the starting time. Their update times have no definite relationship, resulting in data that is not aligned on the time axis. Therefore, the control system cannot reliably infer whether the flywheel is in an accelerating, decelerating or uniform running state in the near term by directly comparing the two values, and potentially valuable state trend information is lost. In summary, it is difficult to provide multi-scale rotation speed information with strict time correlation while ensuring low delay in the prior art, which restricts further improvement of performance of the attitude and orbit control system. Therefore, a high real-time rotation speed acquisition processing method capable of remarkably improving the timeliness of data and realizing internal time alignment of multi-scale acquired data is needed. Disclosure of Invention The invention aims to solve the defects in the prior art, and provides a method for acquiring and processing the high real-time rotating speed of a satellite-borne flywheel, which comprises the following steps: s1, generating a multi-bit cyclic pulse signal with a period of T, and controlling a first number of long-period pulse counters and a second number of short-period pulse counters to be started in a staggered mode at a fixed time interval delta T based on the cyclic pulse signal, wherein the counting period of the long-period pulse counter is T1, the counting period of the short-period pulse counter is T2, and the counting period of the short-period pulse counter is T1> T2; S2, latching the current count value of each counter before the corresponding next starting pulse comes at the end of the counting period of the counter, and synchronously updating the latest latched long-period pulse count value in all the long-period pulse counters and the latest latched short-period pulse count value in all the short-period pulse counters to a common register; S3, synchronously reading a long-period pulse count value CNT1 and a short-period pulse count value CNT2 from the public register, wherein the maximum time delay between the end time of a measurement time window corresponding to each of the long-period pulse count value CNT1 and the short-period pulse count value CNT2 and the reading time is not greater than the time interval delta T, and judging the movement trend of the flywheel in the corresponding time period based on the numerical relation of the long-period pulse count value CNT1 and the short-period pulse count value CNT 2. Preferably, in step S1, generating a multi-bit cyclic pulse signal with a period of T includes: generating a