阅读说明：本技术 一种多层并联反馈的航天器控制系统及方法 (Multi-layer parallel feedback spacecraft control system and method ) 是由 袁利 王磊 王华强 李金哲 刘磊 魏春岭 张海博 张聪 于 2021-06-17 设计创作，主要内容包括：本发明公开了一种多层并联反馈的航天器控制系统及方法,该系统包括原子任务管理模块、并行任务管理模块、序列任务管理模块、总任务管理模块和智能人机接口模块；其中,以自主管理为核心,采用多层开放式结构,以接受从指定动作到指定目标,再到自选目标等各级别作战指令；基于并联反馈,建立层间联系,实现面向任务的更大回路的闭环控制。本发明不仅能够实现简单卫星的姿态和轨道控制能力,且能够实现在轨智能自主感知与信息处理、智能自主目标识别和自主决策打击能力。(The invention discloses a multi-layer parallel feedback spacecraft control system and a method, wherein the system comprises an atomic task management module, a parallel task management module, a sequence task management module, a total task management module and an intelligent human-machine interface module; the system takes autonomous management as a core, adopts a multilayer open structure, and receives various levels of combat instructions from designated action to designated target and then to self-selection target; based on parallel feedback, interlayer connection is established, and closed-loop control of a larger loop facing a task is realized. The invention can not only realize the attitude and orbit control capability of a simple satellite, but also realize the on-orbit intelligent autonomous perception and information processing, intelligent autonomous target recognition and autonomous decision striking capability.)

1. A multi-layer parallel feedback spacecraft control system, comprising: the system comprises an atomic task management module, a parallel task management module, a sequence task management module, a total task management module and an intelligent human-computer interface module; wherein the content of the first and second substances,

the atomic task management module performs sensing measurement on a target object and a space environment state to obtain sensing measurement information, processes the sensing measurement information to obtain a processing result, and performs fault detection and fault processing on the processing result; the sensing measurement information and the processing result are transmitted to an intelligent sensing unit B of the parallel task management module;

the parallel task management module receives the sensing measurement information and the processing result, performs data fusion on the sensing measurement information to obtain multi-dimensional fusion sensing information of the spacecraft, and performs autonomous decomposition on the multi-dimensional fusion sensing information and the processing result of the spacecraft through a multi-dimensional control target to obtain a plurality of single-dimensional control tasks; transmitting the multi-dimensional fusion perception information of the spacecraft to the sequence task management module;

the sequence task management module receives multi-dimensional fusion perception information of the spacecraft, identifies a target object and a space environment where the target object is located to obtain a plurality of target identification results, performs task time sequence planning on the plurality of target identification results, and generates a multi-target task time sequence planning sequence on a time axis; transmitting a plurality of target identification results to the general task management module;

the general task management module receives a plurality of target identification results and generates a plurality of target tasks according to the target identification results;

the intelligent man-machine interface module provides an uplink control interface and a downlink state monitoring interface for the spacecraft.

2. A multi-layer parallel feedback spacecraft control system according to claim 1, wherein: the atomic task management module comprises a sensor, a sensing unit A, an autonomous management unit A, a real-time control unit A and an actuator; wherein the content of the first and second substances,

the sensor performs sensing measurement on the target object and the space environment state to obtain sensing measurement information, and outputs the sensing measurement information to the sensing unit A; after receiving the perception measurement information, the perception unit A processes the perception measurement information and outputs the processed result to the autonomous management unit A and the intelligent perception unit B of the parallel task management module after the processing is finished; the autonomous management unit A carries out fault detection and fault processing on the data processing result of the sensing unit A and outputs the fault processing result to the real-time control unit A; the real-time control unit A calculates the control quantity according to the fault processing result, sends a control instruction and a control signal to the actuator, and simultaneously sends the control quantity calculation result to the autonomous management unit A.

3. A multi-layer parallel feedback spacecraft control system according to claim 2, wherein: the sensor comprises a sensor and a sensor; wherein the content of the first and second substances,

the sensor determines the space position and the attitude of the spacecraft and the target object; the sensor is used for determining the state information of the spacecraft.

4. A multi-layer parallel feedback spacecraft control system according to claim 2, wherein: the actuator comprises a thruster and a mechanism; the thruster is used for controlling the position and the attitude of the spacecraft; the mechanism can be used for spacecraft attitude control and component space operation.

5. A multi-layer parallel feedback spacecraft control system according to claim 2, wherein: the parallel task management module comprises an intelligent sensing unit B, an autonomous management unit B and a task decomposition unit B; wherein the content of the first and second substances,

the intelligent sensing unit B receives sensing measurement information of the sensor, performs data fusion on the sensing information, acquires multi-dimensional fusion sensing information of the spacecraft, and transmits the multi-dimensional fusion sensing information of the spacecraft to the autonomous management unit B; the autonomous management unit B receives the spacecraft multidimensional fusion sensing information of the intelligent sensing unit B and the fault processing result of the autonomous management unit A of the atomic task management module, performs conflict analysis on the spacecraft space resource state to obtain a space resource conflict analysis result, and sends the space resource conflict analysis result to the task decomposition unit B; the task decomposition unit B decomposes the multidimensional control task to obtain a plurality of single-dimensional control tasks according to the space resource conflict analysis result of the autonomous management unit B, and sends the plurality of single-dimensional control tasks to the real-time control unit A of the atomic task management module, and the real-time control unit A takes the plurality of single-dimensional control tasks as a target and realizes closed-loop control by the atomic task management module; meanwhile, the autonomous management unit a transmits the control amount distribution result, the failure detection and processing result to the autonomous management unit B.

6. A multi-layer parallel feedback spacecraft control system according to claim 5, wherein: the sequence task management module comprises an intelligent sensing unit C, an autonomous management unit C and a task planning unit C; wherein the content of the first and second substances,

the intelligent sensing unit C receives sensing measurement information of a sensor and multi-dimensional fusion sensing information of a spacecraft of the intelligent sensing unit B of the parallel task management module, identifies a target object and a space environment where the target object is located, and sends a plurality of identified target identification results to the autonomous management unit C; the autonomous management unit C performs time resource conflict analysis on a plurality of target identification results of the intelligent sensing unit C and space resource conflict analysis results input by the autonomous management unit B of the parallel task management module, and sends the time resource conflict analysis results to the task planning unit C; and the task planning unit C performs task time sequence planning on the multiple target identification results according to the time conflict analysis result of the autonomous management unit C, and generates a multi-target task time sequence planning sequence on a time axis.

7. A multi-layer parallel feedback spacecraft control system according to claim 6, wherein: the general task management module comprises an intelligent sensing unit D, an autonomous management unit D and a task generation and decision unit D; wherein the content of the first and second substances,

the intelligent sensing unit D receives the sensing measurement information of the sensor and a plurality of target identification results of the intelligent sensing unit C, obtains a target range, a time range and a space range of a target task through semantic analysis, and sends semantic analysis results to the autonomous management unit D; the autonomous management unit D performs task target conflict analysis on the semantic analysis result of the intelligent sensing unit D and the time resource conflict analysis result input by the autonomous management unit C of the sequence task management module and the existing target task to obtain a task target conflict analysis result, and sends the task target conflict analysis result to the task generation and decision unit D; the task generation and decision unit D generates a plurality of target tasks according to the task target conflict analysis result of the autonomous management unit D, sends the target tasks to the task planning unit C of the sequence task management module, carries out time sequence planning on the target tasks by the task planning unit C, and realizes closed-loop control by the time sequence task management module.

8. A multi-layer parallel feedback spacecraft control method, comprising the steps of:

the atomic task management module performs sensing measurement on the target object and the space environment state to obtain sensing measurement information, processes the sensing measurement information to obtain a processing result, and performs fault detection and fault processing on the processing result; the sensing measurement information and the processing result are transmitted to an intelligent sensing unit B of the parallel task management module;

the parallel task management module receives the sensing measurement information and the processing result, performs data fusion on the sensing measurement information to obtain multi-dimensional fusion sensing information of the spacecraft, and performs autonomous decomposition on a multi-dimensional control target according to the multi-dimensional fusion sensing information and the processing result of the spacecraft to obtain a plurality of single-dimensional control tasks; transmitting the multi-dimensional fusion perception information of the spacecraft to a sequence task management module;

the sequence task management module receives the multi-dimensional fusion perception information of the spacecraft, identifies the target object and the space environment where the target object is located to obtain a plurality of target identification results, performs task time sequence planning on the plurality of target identification results, and generates a multi-target task time sequence planning sequence on a time axis; transmitting a plurality of target identification results to a general task management module;

the general task management module receives a plurality of target identification results and generates a plurality of target tasks according to the target identification results.

9. A method of multi-layer parallel feedback spacecraft control according to claim 8, wherein: the atomic task management module comprises a sensor, a sensing unit A, an autonomous management unit A, a real-time control unit A and an actuator; wherein the content of the first and second substances,

the sensor performs sensing measurement on the target object and the space environment state to obtain sensing measurement information, and outputs the sensing measurement information to the sensing unit A; after receiving the perception measurement information, the perception unit A processes the perception measurement information and outputs the processed result to the autonomous management unit A and the intelligent perception unit B of the parallel task management module after the processing is finished; the autonomous management unit A carries out fault detection and fault processing on the data processing result of the sensing unit A and outputs the fault processing result to the real-time control unit A; the real-time control unit A calculates the control quantity according to the fault processing result, sends a control instruction and a control signal to the actuator, and simultaneously sends the control quantity calculation result to the autonomous management unit A.

10. A method of multi-layer parallel feedback spacecraft control according to claim 9, wherein: the sensor comprises a sensor and a sensor; wherein the content of the first and second substances,

the sensor determines the space position and the attitude of the spacecraft and the target object; the sensor is used for determining the state information of the spacecraft.

Technical Field

The invention belongs to the technical field of design of spacecraft systems, and particularly relates to a multi-layer parallel feedback spacecraft control system and method.

Background

With the increasing military demands and the improvement of task complexity, the space equipment is not a simple communication, navigation or remote sensing satellite any more, but a complex and flexible space intelligent autonomous system, not only has the information collection capability, but also has the capability of on-orbit autonomous sensing and information processing, autonomous target identification and autonomous decision striking, and the intellectualization is a key means for solving the problem of on-orbit autonomous implementation of military actions of the space equipment, so that the purposes of rapidness, high efficiency and flexibility can be achieved.

The main problems currently faced are: the traditional spacecraft control system is a single closed-loop control system which takes attitude and orbit control as a main target, is established on the basis of software and hardware products with fixed functions, is rigid in system structure, is difficult to adapt to variable control objects, variable environments and diverse task requirements of users, and is not enough in use convenience for the users. Compared with the prior art, the control task oriented by the spatial intelligent autonomous system is closed-loop control of a 'larger loop', the content of the control task is not limited to the control of motion parameters such as position, attitude, speed and the like, and also comprises the content of perception and cognition, decision and planning, guidance, control and execution, man-machine hybrid intelligence enhancement and the like. Therefore, the traditional spacecraft control system structure is difficult to adapt to the intelligent task requirement.

Disclosure of Invention

The technical problem solved by the invention is as follows: the defects of the prior art are overcome, and the multi-layer parallel feedback spacecraft control system and the method are provided, so that the attitude and orbit control capability of a simple satellite can be realized, and the on-orbit intelligent autonomous sensing and information processing, intelligent autonomous target recognition and autonomous decision striking capability can be realized.

The purpose of the invention is realized by the following technical scheme: a multi-layer parallel feedback spacecraft control system comprising: the system comprises an atomic task management module, a parallel task management module, a sequence task management module, a total task management module and an intelligent human-computer interface module; the atomic task management module is used for sensing and measuring a target object and a space environment state to obtain sensing and measuring information, processing the sensing and measuring information to obtain a processing result, and performing fault detection and fault processing on the processing result; the sensing measurement information and the processing result are transmitted to an intelligent sensing unit B of the parallel task management module; the parallel task management module receives the sensing measurement information and the processing result, performs data fusion on the sensing measurement information to obtain multi-dimensional fusion sensing information of the spacecraft, and performs autonomous decomposition on the multi-dimensional fusion sensing information and the processing result of the spacecraft through a multi-dimensional control target to obtain a plurality of single-dimensional control tasks; transmitting the multi-dimensional fusion perception information of the spacecraft to the sequence task management module; the sequence task management module receives multi-dimensional fusion perception information of the spacecraft, identifies a target object and a space environment where the target object is located to obtain a plurality of target identification results, performs task time sequence planning on the plurality of target identification results, and generates a multi-target task time sequence planning sequence on a time axis; transmitting a plurality of target identification results to the general task management module; the general task management module receives a plurality of target identification results and generates a plurality of target tasks according to the target identification results; the intelligent man-machine interface module provides an uplink control interface and a downlink state monitoring interface for the spacecraft.

In the multi-layer parallel feedback spacecraft control system, the atomic task management module comprises a sensor, a sensing unit A, an autonomous management unit A, a real-time control unit A and an actuator; the sensor performs sensing measurement on a target object and a space environment state to obtain sensing measurement information, and outputs the sensing measurement information to the sensing unit A; after receiving the perception measurement information, the perception unit A processes the perception measurement information and outputs the processed result to the autonomous management unit A and the intelligent perception unit B of the parallel task management module after the processing is finished; the autonomous management unit A carries out fault detection and fault processing on the data processing result of the sensing unit A and outputs the fault processing result to the real-time control unit A; the real-time control unit A calculates the control quantity according to the fault processing result, sends a control instruction and a control signal to the actuator, and simultaneously sends the control quantity calculation result to the autonomous management unit A.

In the multi-layer parallel feedback spacecraft control system, the sensor comprises a sensor and a sensor; the sensor determines the space position and the attitude of the spacecraft and a target object; the sensor is used for determining the state information of the spacecraft.

In the multi-layer parallel feedback spacecraft control system, the actuator comprises a thruster and a mechanism; the thruster is used for controlling the position and the attitude of the spacecraft; the mechanism can be used for spacecraft attitude control and component space operation.

In the multi-layer parallel feedback spacecraft control system, the parallel task management module comprises an intelligent sensing unit B, an autonomous management unit B and a task decomposition unit B; the intelligent sensing unit B receives sensing measurement information of the sensor, performs data fusion on the sensing information, acquires multi-dimensional fusion sensing information of the spacecraft, and transmits the multi-dimensional fusion sensing information of the spacecraft to the autonomous management unit B; the autonomous management unit B receives the spacecraft multidimensional fusion sensing information of the intelligent sensing unit B and the fault processing result of the autonomous management unit A of the atomic task management module, performs conflict analysis on the spacecraft space resource state to obtain a space resource conflict analysis result, and sends the space resource conflict analysis result to the task decomposition unit B; the task decomposition unit B decomposes the multidimensional control task to obtain a plurality of single-dimensional control tasks according to the space resource conflict analysis result of the autonomous management unit B, and sends the plurality of single-dimensional control tasks to the real-time control unit A of the atomic task management module, and the real-time control unit A takes the plurality of single-dimensional control tasks as a target and realizes closed-loop control by the atomic task management module; meanwhile, the autonomous management unit a transmits the control amount distribution result, the failure detection and processing result to the autonomous management unit B.

In the multi-layer parallel feedback spacecraft control system, the sequence task management module comprises an intelligent sensing unit C, an autonomous management unit C and a task planning unit C; the intelligent sensing unit C receives sensing measurement information of a sensor and multi-dimensional fusion sensing information of a spacecraft of the intelligent sensing unit B of the parallel task management module, identifies a target object and a space environment where the target object is located, and sends a plurality of identified target identification results to the autonomous management unit C; the autonomous management unit C performs time resource conflict analysis on a plurality of target identification results of the intelligent sensing unit C and space resource conflict analysis results input by the autonomous management unit B of the parallel task management module, and sends the time resource conflict analysis results to the task planning unit C; and the task planning unit C performs task time sequence planning on the multiple target identification results according to the time conflict analysis result of the autonomous management unit C, and generates a multi-target task time sequence planning sequence on a time axis.

In the multi-layer parallel feedback spacecraft control system, the total task management module comprises an intelligent sensing unit D, an autonomous management unit D and a task generation and decision unit D; the intelligent sensing unit D receives sensing measurement information of the sensor and a plurality of target identification results of the intelligent sensing unit C, obtains a target range, a time range and a space range of a target task through semantic analysis, and sends semantic analysis results to the self-management unit D; the autonomous management unit D performs task target conflict analysis on the semantic analysis result of the intelligent sensing unit D and the time resource conflict analysis result input by the autonomous management unit C of the sequence task management module and the existing target task to obtain a task target conflict analysis result, and sends the task target conflict analysis result to the task generation and decision unit D; the task generation and decision unit D generates a plurality of target tasks according to the task target conflict analysis result of the autonomous management unit D, sends the target tasks to the task planning unit C of the sequence task management module, carries out time sequence planning on the target tasks by the task planning unit C, and realizes closed-loop control by the time sequence task management module.

A method of multi-layer parallel feedback spacecraft control, the method comprising the steps of: the atomic task management module performs sensing measurement on the target object and the space environment state to obtain sensing measurement information, processes the sensing measurement information to obtain a processing result, and performs fault detection and fault processing on the processing result; the sensing measurement information and the processing result are transmitted to an intelligent sensing unit B of the parallel task management module; the parallel task management module receives the sensing measurement information and the processing result, performs data fusion on the sensing measurement information to obtain multi-dimensional fusion sensing information of the spacecraft, and performs autonomous decomposition on a multi-dimensional control target according to the multi-dimensional fusion sensing information and the processing result of the spacecraft to obtain a plurality of single-dimensional control tasks; transmitting the multi-dimensional fusion perception information of the spacecraft to a sequence task management module; the sequence task management module receives the multi-dimensional fusion perception information of the spacecraft, identifies the target object and the space environment where the target object is located to obtain a plurality of target identification results, performs task time sequence planning on the plurality of target identification results, and generates a multi-target task time sequence planning sequence on a time axis; transmitting a plurality of target identification results to a general task management module; the general task management module receives a plurality of target identification results and generates a plurality of target tasks according to the target identification results.

In the multi-layer parallel feedback spacecraft control method, the atomic task management module comprises a sensor, a sensing unit A, an autonomous management unit A, a real-time control unit A and an actuator; the sensor performs sensing measurement on a target object and a space environment state to obtain sensing measurement information, and outputs the sensing measurement information to the sensing unit A; after receiving the perception measurement information, the perception unit A processes the perception measurement information and outputs the processed result to the autonomous management unit A and the intelligent perception unit B of the parallel task management module after the processing is finished; the autonomous management unit A carries out fault detection and fault processing on the data processing result of the sensing unit A and outputs the fault processing result to the real-time control unit A; the real-time control unit A calculates the control quantity according to the fault processing result, sends a control instruction and a control signal to the actuator, and simultaneously sends the control quantity calculation result to the autonomous management unit A.

In the multi-layer parallel feedback spacecraft control method, the sensor comprises a sensor and a sensor; the sensor determines the space position and the attitude of the spacecraft and a target object; the sensor is used for determining the state information of the spacecraft.

Compared with the prior art, the invention has the following beneficial effects:

(1) according to the invention, an upper-lower layered and multi-layer parallel logic structure is formed by the atomic task management module, the parallel task management module, the sequence task management module and the total task management module, so that the attitude and orbit control capability of a simple satellite can be realized, and the on-orbit intelligent autonomous sensing and information processing, intelligent autonomous target recognition and autonomous decision striking capability can be realized.

(2) The invention realizes the intelligent control level of the unable level through the atomic task management module, the parallel task management module, the sequence task management module and the total task management module, compared with the traditional spacecraft control system taking attitude and orbit control as the main target, the invention can better adapt to the diversified task requirements of the changed control object, the changed environment and the user, and can better adapt to the future intelligent development direction.

(3) The invention realizes the requirements of operations at different levels from appointed actions to appointed targets, and then to self-selection targets and the like by a model structure with upper and lower layers and multiple layers connected in parallel and by adopting an operation mode of nested closed loop and interlayer feedback.

(4) According to the invention, through the interlayer information interaction of the interlayer self-master management units of all layers and the interlayer self-master management units, the autonomous management requirements of the multi-layer spacecraft control system from system autonomous fault processing to autonomous space resource management, autonomous time resource management, autonomous task target management and the like are realized.

(5) According to the invention, the intelligent response of the system to the user instruction is realized through the intelligent man-machine enhanced interface module, the user can realize the control and monitoring of the spacecraft through the intelligent man-machine enhanced interface module, and the control instruction does not relate to the operation mechanism of the spacecraft, so that the user can be liberated from heavy on-orbit operation and maintenance and can concentrate on the thinking of the strategic places; when necessary, the user can directly intervene each layer, and the highest-level control authority of the user is reserved while the intelligent autonomous requirement of the control system is met.

(6) The invention aims at the requirements of future intelligent spacecraft tasks, establishes a spacecraft control system structure and a baseline frame, has the bottommost layer similar to the traditional control system, increases a link of feeding back to the upper layer, and simultaneously increases an interface for receiving the upper layer tasks, and the whole structure is oriented to the future intelligent spacecraft tasks, is a closed loop with larger loops and more layers of loops, provides a method for designing the intelligent autonomous architecture of the spacecraft control system, can be applied to the design of various intelligent spacecraft control systems, and can be popularized in other intelligent fields.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

FIG. 1 is a block diagram of a multi-layer parallel feedback spacecraft control system provided by an embodiment of the invention;

fig. 2 is a schematic diagram of a closed-loop nested operation mode of a multi-layer parallel feedback spacecraft control system according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Fig. 1 is a block diagram of a multi-layer parallel feedback spacecraft control system provided in an embodiment of the present invention. As shown in fig. 1, the system includes an atomic task management module, a parallel task management module, a sequence task management module, a total task management module, and an intelligent human-machine interface module. Wherein the content of the first and second substances,

the atomic task management module performs sensing measurement on a target object and a space environment state to obtain sensing measurement information, processes the sensing measurement information to obtain a processing result, and performs fault detection and fault processing on the processing result; the sensing measurement information and the processing result are transmitted to an intelligent sensing unit B of the parallel task management module; the parallel task management module receives the sensing measurement information and the processing result, performs data fusion on the sensing measurement information to obtain multi-dimensional fusion sensing information of the spacecraft, and performs autonomous decomposition on the multi-dimensional fusion sensing information and the processing result of the spacecraft through a multi-dimensional control target to obtain a plurality of single-dimensional control tasks; transmitting the multi-dimensional fusion perception information of the spacecraft to the sequence task management module; the sequence task management module receives multi-dimensional fusion perception information of the spacecraft, identifies a target object and a space environment where the target object is located to obtain a plurality of target identification results, performs task time sequence planning on the plurality of target identification results, and generates a multi-target task time sequence planning sequence on a time axis; transmitting a plurality of target identification results to the general task management module; the general task management module receives a plurality of target identification results and generates a plurality of target tasks according to the target identification results; the intelligent man-machine interface module provides an uplink control interface and a downlink state monitoring interface for the spacecraft.

As shown in fig. 1, the atomic task management module faces to a single-dimensional control task of a spacecraft, and is composed of a sensor, a sensing unit a, an autonomous management unit a, a real-time control unit a, and an actuator.

The sensor can perform sensing measurement on a target object and a space environment state and output sensing measurement information to the sensing unit A; after receiving the perception information, the perception unit A processes the perception information and outputs the processed result to the autonomous management unit A and the intelligent perception unit B of the parallel task management module after the processing is finished; the autonomous management unit A carries out fault detection and fault processing on the data processing result of the sensing unit A and outputs the fault processing result to the real-time control unit A; the real-time control unit A calculates the control quantity according to the fault processing result, sends a control instruction and a control signal to the actuator, and simultaneously sends the control quantity calculation result to the autonomous management unit A.

Further, the sensor comprises a sensor and a sensor; the sensor mainly determines the space position and the attitude of the spacecraft and a target object; the sensor is mainly used for determining the state information of the spacecraft.

Further, the actuator comprises a thruster and a mechanism; the thruster is used for controlling the position and the attitude of the spacecraft; the mechanism can be used for spacecraft attitude control and component space operation.

As shown in fig. 1, the parallel task management module is oriented to a multi-dimensional control task of a specific task target of a spacecraft, and is composed of an intelligent sensing unit B, an autonomous management unit B, a task decomposition unit B, and an atomic task management module.

The intelligent sensing unit B receives sensing measurement information of the sensing unit A of the sensor and the atomic task management module, performs data fusion on the multidimensional sensing information, acquires multidimensional fusion sensing information of the spacecraft, and transmits the fused multidimensional sensing information to the autonomous management unit B; the autonomous management unit B receives the spacecraft multidimensional fusion sensing information of the intelligent sensing unit B and the fault processing result of the autonomous management unit A of the atomic task management module, performs conflict analysis on the spacecraft space resource state, and sends the space resource conflict analysis result to the task decomposition unit B; the task decomposition unit B decomposes the multidimensional control task into a plurality of single-dimensional control tasks according to the conflict analysis result of the autonomous management unit B, and sends the control tasks to the real-time control unit A of the atomic task management module, and the real-time control unit A takes the plurality of single-dimensional control tasks as the target and realizes closed-loop control by the atomic task management module; meanwhile, the autonomous management unit a transmits the control amount distribution result and the failure detection and processing result to the autonomous management unit B.

As shown in fig. 1, the sequence task management module is oriented to control of a plurality of task targets of a spacecraft, and is composed of an intelligent sensing unit C, an autonomous management unit C, a task planning unit C, and a parallel task management module.

The intelligent sensing unit C receives the multi-dimensional fusion sensing information of the spacecraft of the intelligent sensing unit B of the sensor and the parallel task management module, identifies a target object and a space environment where the target object is located, and sends a plurality of identified target identification results to the self-management unit C; the autonomous management unit C performs time resource conflict analysis on a plurality of target identification results of the intelligent sensing unit C and space resource conflict analysis results input by the autonomous management unit B of the parallel task management module, and sends the time resource conflict analysis results to the task planning unit C; the task planning unit C performs task time sequence planning on a plurality of target identification results according to the time conflict analysis result of the autonomous management unit C, generates a multi-target task time sequence planning sequence on a time axis, and sends the planning result at the current moment to a task decomposition unit B of the parallel task management module in real time, wherein the task decomposition unit B takes the planning result as a task decomposition target, and the parallel task management module realizes closed-loop control; meanwhile, the task planning unit B sends the task decomposition result to the autonomous management unit B, and the autonomous management unit B sends the task decomposition result and the inter-resource conflict analysis result to the autonomous management unit C.

As shown in fig. 1, the overall task management module is oriented to a task with a user as a center, can autonomously determine a target task according to a user instruction, and mainly comprises an intelligent sensing unit D, an autonomous management unit D, a task generation and decision unit D, and a sequence task management module.

The intelligent sensing unit D receives a plurality of target identification results of the sensor and the sequence task management module intelligent sensing unit C, obtains a target range, a time range and a space range of a target task through semantic analysis, and sends semantic analysis results to the self-main management unit D; the autonomous management unit D performs task target conflict analysis on the time resource conflict analysis result input by the intelligent sensing unit D and the autonomous management unit C of the sequence task management module and the existing target task, and sends the analysis result to the task generation and decision unit D; the task generation and decision unit D generates a plurality of target tasks according to the task target conflict analysis result of the autonomous management unit D, and sends the target tasks to a task planning unit C of the sequence task management module, the task planning unit C performs time sequence planning on the target tasks, the time sequence task management module realizes closed-loop control, meanwhile, the task planning unit C sends the task planning result to the autonomous management unit C, and the autonomous management unit C sends the task planning result and the time resource conflict analysis result to the autonomous management unit D.

As shown in fig. 1, the intelligent human-machine interface module may provide an uplink control and downlink state monitoring interface for a user of the spacecraft, and the user may inject a user instruction (not related to an internal operation mechanism of the spacecraft) into the task generating and decision unit D through an uplink channel; the task generation and decision unit D extracts instruction information, generates a plurality of target tasks according to user instructions, and sends target task generation results to the self-management unit D; the autonomous management unit D can analyze task target conflict between a target task and the existing task, and can feed back the state information of each module of the spacecraft to a user through an intelligent man-machine interface, so that the state monitoring of the spacecraft is realized by the user; when necessary, the user can also directly operate the sequence task management module, the parallel task management module and the atomic task management module through the intelligent human-computer interface.

The multi-layer parallel feedback spacecraft control system is of a multi-layer parallel structure with upper and lower layers on the logic structure.

Furthermore, the upper and lower hierarchical structures mean that an atomic task management module, a parallel task management module, a sequence task management module and a total task management module respectively correspond to a logic layer, and control functions of different intelligent levels can be realized; the overall task management module is oriented to user tasks, has the highest intelligent level and can autonomously decide task targets; the sequence task management module is intelligent and horizontal, and can realize task planning aiming at a plurality of task targets; the parallel task management module is intelligent and horizontal again, and can realize multi-dimensional control task decomposition aiming at a specific task target; the atom task management module has the lowest intelligent level and can complete a plurality of single-dimensional control tasks.

Further, the multilayer parallel structure refers to a logic layer corresponding to the atomic task management module, the parallel task management module, the sequence task management module and the total task management module, and is in a parallel structure mode in terms of a logic structure.

The traditional spacecraft control system is a single closed-loop control system which takes attitude and orbit control as a main target, is established on the basis of software and hardware products with fixed functions, is rigid in system structure, cannot adapt to changed control objects and changed environment requirements, is difficult to meet the intelligent autonomous task requirements of the control system, and is not enough for the use convenience of users. The invention provides a multi-layer parallel feedback spacecraft control system, which takes autonomous management as a core and adopts a multi-layer open structure to receive various levels of combat instructions from designated action to designated target and then to self-selected target and the like; based on parallel feedback, interlayer connection is established, closed-loop control of a larger loop facing a task is achieved, and the content of the closed-loop control is not limited to control of motion parameters such as position, posture and speed, but also comprises content of perception and cognition, decision and planning, guidance, control and execution, man-machine hybrid intelligence enhancement and the like.

The multi-layer parallel feedback spacecraft control system comprises five modules, namely an atomic task management module, a parallel task management module, a sequence task management module, a total task management module and an intelligent man-machine interface module. The atomic task management module, the parallel task management module, the sequence task management module and the total task management module respectively correspond to a logic layer, control functions of different intelligent levels can be realized, the total task management module is oriented to user tasks, the intelligent level is highest, and task targets can be independently decided; the sequence task management module is intelligent and horizontal, and can realize task planning aiming at a plurality of task targets; the parallel task management module is intelligent and horizontal again, and can realize multi-dimensional control task decomposition aiming at a specific task target; the atom task management module has the lowest intelligent level and can complete a plurality of single-dimensional control tasks. The intelligent man-machine interface module can provide an uplink control and downlink state monitoring interface for the spacecraft for a user, and the user can realize uplink control and downlink state monitoring of the spacecraft through the module.

The atomic task management module faces to a spacecraft single-dimensional control task (such as an attitude control task, an orbit control task and a mechanism rotation task), and consists of a sensor, a sensing unit A, an autonomous management unit A, a real-time control unit A and an actuator. The sensor comprises a sensor and a sensor, the sensor is mainly used for determining the space position and the attitude of the spacecraft and the target object, and the sensor is mainly used for determining the state information of the spacecraft. The actuator comprises a thruster and a mechanism, and the thruster is used for controlling the position and the attitude of the spacecraft; the mechanism is used for spacecraft attitude control and component space operation.

The parallel task management module is oriented to the multi-dimensional control task of the specific task target of the spacecraft, and the multi-dimensional control target is automatically decomposed to realize the space resource conflict resolution of the multi-dimensional control target. The intelligent sensing system is composed of an intelligent sensing unit B, an autonomous management unit B, a task decomposition unit B and an atomic task management module. The intelligent sensing unit B is used for fusing data of various sensors and data processing results of the sensing unit A of the atomic task management module; the autonomous management unit B is used for realizing the analysis of the space resource conflict of the multidimensional control target; and the task decomposition unit B is used for performing task decomposition on the multi-dimensional control target, and the decomposition result is executed by the lower-layer atomic task management module.

The sequence task management module is oriented to control of a plurality of task targets of the spacecraft and comprises an intelligent sensing unit C, an autonomous management unit C, a task planning unit C and a parallel task management module. The intelligent sensing unit C can realize the identification of the target and the space environment where the target is located by identifying and analyzing the sensor information and the data fusion result of the intelligent sensing unit B; the autonomous management unit C is used for performing time resource analysis on the identification target and the current environment where the spacecraft is located; the task planning unit C can carry out task execution sequence planning on the plurality of identification targets, and the task execution sequence planning is executed by the parallel task management module.

The general task management module is oriented to a task taking a user as a center, can autonomously determine a target task according to a user instruction, and mainly comprises an intelligent sensing unit D, an autonomous management unit D, a task generation and decision unit D and a sequence task management module. The intelligent sensing unit D is used for carrying out semantic analysis on the sensing information of the sensor and the target identification result of the intelligent sensing unit C; the autonomous management unit D performs conflict analysis according to the semantic analysis result and the existing task target; and the task generation and decision unit D makes a decision according to the task target conflict analysis result to generate a plurality of execution tasks, and the execution tasks are executed by the lower-layer sequence task management module.

The intelligent man-machine interface module is positioned at each level of the logic model, and a user can perform information interaction with the spacecraft through the total task management module and is automatically executed by the multi-layer intelligent logic module of the spacecraft; meanwhile, in order to ensure the intervention capability of the user on each layer of logic models in an emergency state, the user can directly intervene on each layer of logic models through each layer of human-computer interfaces. Therefore, a logic architecture of human-in-loop of each layer is constructed, and the aim of enhancing the system performance by human-computer mixing is fulfilled.

The multi-layer parallel feedback spacecraft control method comprises the following concrete implementation steps:

(1) in the atomic task management module, a sensor performs sensing measurement on a target object and a space environment state and outputs measurement information to a sensing unit A; after receiving the perception information, the perception unit A performs data processing on the perception information, and outputs a processing result to the autonomous management unit A after the processing is finished; the autonomous management unit A analyzes system part/component data in an FDIR (Fault detection and recovery) mode after receiving the sensing information, realizes the health state monitoring, Fault diagnosis, isolation and recovery of a single machine and a system, ensures the functional reliability and the information correctness of each part participating in a control loop, and outputs a Fault processing result to the real-time control unit A; after receiving reliable sensing information, the real-time control unit calculates the control quantity of the actuator according to a control target set by a high-level or a user, and sends a control instruction or a control signal to the corresponding actuator to realize the closed-loop control of the atomic task management module, as shown in a closed-loop structure 1 of fig. 2.

(2) In the parallel task management module, the intelligent sensing unit B performs data fusion of multiple sensors by taking data processing results of the sensors and the sensing unit A of the atomic task management module as input, acquires multi-dimensional state information of a spacecraft body and a space environment where the spacecraft body is located, and outputs multi-dimensional sensing information of the spacecraft on the basis of the information fusion (for example, a thermal control radiating surface and the solar wing pointing direction can be determined according to sensor information, and an antenna or the space pointing direction of a load can be determined according to a posture sensor and an angle sensor); the autonomous management unit B acquires the information fusion result of the intelligent sensing unit, analyzes the system space resource conflict by combining the fault processing result of the autonomous management unit of the atomic task management module, and sends the analysis result to the task decomposition unit B; the task decomposition unit B decomposes the control targets of all dimensions (such as decomposing into attitude control targets, antenna rotation targets and the like) according to the conflict analysis result, the decomposition result is sent to the lower-layer real-time control unit A, and the lower-layer atomic task management module realizes closed-loop control on all the control targets; thereby a closed loop control process of the parallel task management module is achieved, see closed loop architecture 2 of fig. 2.

(3) In the closed-loop control process of the parallel task management module, after a task decomposition result is transmitted to a real-time control unit A of the atomic task management module, the real-time control unit A calculates a single-dimensional control quantity according to an upper-layer task decomposition result, completes actuator selection and control quantity calculation, and sends the selection and calculation result to an autonomous management unit A; the autonomous management unit A sends the actuator selection and calculation result to the autonomous management unit B; thereby, a closed loop of the inter-layer information of the parallel task management module and the atomic task management module can be achieved, see the closed loop structure 5 of fig. 2.

(4) In the sequence task management module, an intelligent sensing unit C receives multi-dimensional data fusion information of a sensor and an intelligent sensing unit B of a parallel task management module, identifies a target object and a space environment where the target object is located, and sends a plurality of identified target tasks to a self-main management unit C; the autonomous management unit C performs time resource conflict analysis on a plurality of target tasks of the intelligent sensing unit C and a space resource conflict analysis result input by the autonomous management unit B of the parallel task management module, and sends the time resource conflict analysis result to the task planning unit C; the task planning unit C performs task time sequence planning on a plurality of target tasks according to the time conflict analysis result of the autonomous management unit C, generates a multi-target task time sequence planning sequence on a time axis, and sends the planning result at the current moment to the task decomposition unit B of the parallel task management module in real time, and the task decomposition unit B takes the planning result as a task decomposition target and realizes closed-loop control by the parallel task management module, which is shown as a closed-loop structure 3 in FIG. 2.

(5) In the closed-loop control process of the sequence task management module, after a task planning result of a task planning unit C is sent to a task decomposition unit B, the task decomposition unit B performs multi-dimensional control target decomposition on the task timing sequence planning result, the decomposition result is fed back to an autonomous management unit B, and the autonomous management unit B sends the decomposition result to an autonomous management unit C; thereby, a closed loop of the inter-layer information of the sequence task management module and the parallel task management module can be achieved, see the closed loop structure 6 of fig. 2.

(6) In the master task management module, an intelligent sensing unit D receives a plurality of target identification results of an intelligent sensing unit C of a sensor and a sequence task management module, obtains a target range, a time range and a space range of a target task through semantic analysis, and sends semantic analysis results to a self-master management unit D; the autonomous management unit D performs task target conflict analysis on the time resource conflict analysis result input by the intelligent sensing unit D and the autonomous management unit C of the sequence task management module and the existing target task, and sends the analysis result to the task generation and decision unit D; the task generation and decision unit D generates a plurality of target tasks according to the task target conflict analysis result of the autonomous management unit D, and sends the plurality of target tasks to the task planning unit C of the sequence task management module, the task planning unit C performs time sequence planning on the plurality of target tasks, and the time sequence task management module realizes closed-loop control, which is shown in a closed-loop structure 4 of FIG. 2.

(7) In the process of closed-loop control of the total task management module, a task generation and decision unit D transmits a task generation result to a task planning unit C, the task planning unit C generates a task planning sequence in a time domain and transmits the task planning sequence to an autonomous management unit C, and the autonomous management unit C transmits the planning result to the autonomous management unit D. Thereby, a closed loop of inter-layer autonomous management information of the overall task management module and the sequence task management module is achieved, see the closed loop structure 7 of fig. 2.

(8) In the on-orbit operation process of the spacecraft control system, a user instruction (not related to an internal operation mechanism of the spacecraft) can be injected into the ground through an uplink channel according to the user requirement, the user instruction is received by the task generation and decision unit D of the total task management module and is subjected to instruction information extraction, and the module can generate a plurality of control tasks and is delivered to the lower-layer sequence task management module to be executed by combining the task target conflict analysis result of the autonomous management unit D. And the task generating and decision unit D simultaneously sends the task generating result to the autonomous management unit D, the autonomous management unit D sends the task generating result and the autonomous management and analysis results of other modules to the ground through a downlink channel, and a user monitors the state, which is shown as a closed loop structure 8 in FIG. 2.

(9) In an emergency, a user can also realize intervention control on the spacecraft through the man-machine interfaces of all layers.

According to the invention, an upper-lower layered and multi-layer parallel logic structure is formed by the atomic task management module, the parallel task management module, the sequence task management module and the total task management module, so that the attitude and orbit control capability of a simple satellite can be realized, and the on-orbit intelligent autonomous sensing and information processing, intelligent autonomous target recognition and autonomous decision striking capability can be realized; the invention realizes the intelligent control level of the unable level through the atomic task management module, the parallel task management module, the sequence task management module and the total task management module, compared with the traditional spacecraft control system taking attitude and orbit control as the main target, the invention can better adapt to the diversified task requirements of the changed control object, the changed environment and the user, and can better adapt to the future intelligent development direction; according to the invention, by means of a model structure with upper and lower layers and multiple layers connected in parallel, and by adopting an operation mode of nested closed loop and interlayer feedback, the demands of operations at different levels from a designated action to a designated target and then to a self-selection target are met; according to the invention, through the interlayer information interaction of the interlayer self-master management units of all layers and the interlayer self-master management units of all layers, the self-management requirements of the multi-layer spacecraft control system from system self-fault processing to self-space resource management, self-time resource management, self-task target management and the like are realized; according to the invention, the intelligent response of the system to the user instruction is realized through the intelligent man-machine enhanced interface module, the user can realize the control and monitoring of the spacecraft through the intelligent man-machine enhanced interface module, and the control instruction does not relate to the operation mechanism of the spacecraft, so that the user can be liberated from heavy on-orbit operation and maintenance and can concentrate on the thinking of the strategic places; when necessary, the user can directly intervene each layer, and the highest-level control authority of the user is reserved while the intelligent autonomous requirement of the control system is met; the invention aims at the requirements of future intelligent spacecraft tasks, establishes a spacecraft control system structure and a baseline frame, has the bottommost layer similar to the traditional control system, increases a link of feeding back to the upper layer, and simultaneously increases an interface for receiving the upper layer tasks, and the whole structure is oriented to the future intelligent spacecraft tasks, is a closed loop with larger loops and more layers of loops, provides a method for designing the intelligent autonomous architecture of the spacecraft control system, can be applied to the design of various intelligent spacecraft control systems, and can be popularized in other intelligent fields.

The embodiment takes autonomous management as a core, adopts a multilayer open structure, and receives various levels of combat instructions from designated action to designated target, and then to self-selection target and the like; based on parallel feedback, interlayer connection is established, closed-loop control of a larger loop facing a task is achieved, and the content of the closed-loop control is not limited to control of motion parameters such as position, posture and speed, but also comprises content of perception and cognition, decision and planning, guidance, control and execution, man-machine hybrid intelligence enhancement and the like. The method can be applied to control system frameworks of various intelligent spacecrafts in the future and used as a base line framework of system design.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.