Method for determining failures of gyroscopic metre of vector of angular speed of space vehicle, and device for its implementation

FIELD: measurement equipment.

SUBSTANCE: according to the proposed method, five threshold signals, signals of norms of gyroquaternions, signals of norms of bases, and a signal of norm of astroquaternion; speeds of change of output signals of each gyroscope are determined, and when they exceed the first threshold signal, the second failure signal is shaped; signals of differences of signals of gyroquaternions of bases are determined, and when they exceed the second threshold signal, the third failure signal is shaped. After at least one failure signal is received, difference signal is determined between signal of norm of gyroquaternion of working basis and signal of norm of astroquaternion, and when it exceeds the third threshold signal, L fourth failure signal is shaped; occasionally, at the time interval equal to five minutes there determined are difference signals of signals of gyroquaternions of signals and bases and signal of astroquaternion, and when it exceeds the fourth threshold signal, the fifth failure signal is shaped; occasionally, within four seconds, after the third failure signal is received, a control loop of a space vehicle is opened, a test signal is supplied to the actuating device input, output signals of gyroscopes are measured, and when they exceed the fifth threshold signal, the sixth failure signal is shaped. In addition, a device for the method's implementation includes three OR circuits, fourteen non-linear units, six adders, four shapers of signal of norm of gyroquaternion and a shaper of signal of norm of astroquaternion; output of astrodetector is connected through the shaper of astroquaternion norm signal to the first inputs of the fifth, the sixth, the seventh and the eighth adders; output of the shape of norm signal of astroquaternion is connected through the ninth adder to input of the fifth non-linear unit; output of the first shaper of basis is connected through in-series connected first shaper of norm signal of gyroquaternion, the fifth adder and the sixth non-linear unit to the first input of the first OR circuit, output of the second shaper of basis is connected through in-series connected second shaper of norm signal of gyroquaternion, the sixth adder and the seventh non-linear unit to the second input of the first OR circuit; output of the third shaper of basis is connected to the third input of the first OR circuit through in-series connected third shaper of norm signal of gyroquaternion, the seventh adder and the eighth non-linear unit, output of the fourth shaper of basis is connected to the fourth input of the first OR circuit through in-series connected fourth shaper of norm signal of gyroquaternion - the eighth adder and the ninth non-linear unit, output of the third shaper of norm signal of gyroquaternion is connected through the tenth adder to input of the tenth non-linear unit, output of the fourth shaper of norm signal of gyroquaternion is connected to the second input of the tenth adder, output of the first gyroscope is connected through the eleventh non-linear unit to the first input of the second OR circuit and through in-series connected first differentiating device and the twelfth non-linear unit to the first input of the third OR circuit, output of the second gyroscope is connected through the thirteenth non-linear unit to the second input of the second OR circuit, and through in-series connected second differentiating device and the fourteenth non-linear unit to the second input of the third OR circuit, output of the third gyroscope is connected through the fifteenth non-linear unit to the third input of the second OR circuit, and through in-series connected third differentiating link and the sixteenth non-linear unit to the third input of the third OR circuit, output of the fourth gyroscope is connected through the seventeenth non-linear unit to the fourth input of the second OR circuit, and through in-series connected fourth differentiating device and the eighteenth non-linear unit to the fourth input; the third OR circuit, outputs of the third OR circuit, the tenth non-linear unit, the fifth non-linear unit, the first OR circuit, the second OR circuit are the second, the fourth, the fifth and the sixth outputs of the device respectively.

EFFECT: improving reliability and accuracy of a monitoring method of failure of a gyroscopic measuring device, and a device for the method's implementation.

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The invention relates to the field of measuring equipment, namely, to monitor the health of gyroscopes as part of the spacecraft to measure its orientation and angular velocity of turn.

There is a method of determining the fault of the gyroscopes in the composition of meter orientation and angular movements of the spacecraft, namely, that form the four output signals of the gyroscopes, four signal bases, and when the tenure of the output signals of the gyroscopes within five seconds to form a first fault signal [1].

The disadvantage of this method of fault finding gyroscopic measuring the velocity vector of the spacecraft is the low reliability and accuracy of determining the angular velocity of the aircraft in the process of changing complex flight conditions.

A device fault finding gyroscopic measuring the angular velocity vector of the spacecraft containing the serially connected control device, the first switch, the actuator, spacecraft and astropathic, the second output of the spacecraft is connected through serially connected first gyroscope, the first imaging unit basis and the second switch to the first input device under control of the population, the second input of the first switch is connected with the output of the test signal generator, the output of the first gyroscope connected to the first input of the first adder, the first inputs of the second and third formers base and connected in series through the first delay unit, a first adder and the first nonlinear block to the first input circuit And the third output of the spacecraft through the second gyroscope connected to the first input of the fourth imaging unit basis, the second inputs of the second and third formers basis, with the first input of the second adder, and the output of the second gyroscope is connected through serially connected second delay unit, a second adder and a second non-linear unit with a second input circuit And the fourth output of the spacecraft through the third gyro is connected to the third input of the first imaging unit basis, with the second inputs of the third and fourth formers basis, with the first input of the third adder, and the output of the third gyro connected in series through the third adder, the third nonlinear block is connected to the third input circuit And the fifth output of the spacecraft through the fourth gyro is connected to the third inputs of the second, third and fourth formers bases, the output of the fourth gyro connected to the first input of the fourth adder and through sequence is correctly included the fourth delay unit, the fourth adder and the fourth nonlinear block with the fourth input circuit And the second input control device is input and the circuit output And the first output, the outputs of the second, third and fourth formers basis connected respectively with the second, third and fourth inputs of the second switch [2].

A disadvantage of the known device is, as the method of measurement, low reliability and accuracy of the angular velocity of the spacecraft during flight.

To avoid these disadvantages of the known method is proposed a method of determining fault gyroscopic measuring the angular velocity vector of the spacecraft, characterized in that form five threshold alarms, norms giroversion, signals norms bases, signal standards astromaterials, determine the rate of change of the output signals of each of the gyroscopes and when they exceed the first threshold signal to generate a second fault signal detect signals of the difference signals giroversion bases and when they exceed the second threshold signal to form a third fault signal, after receiving at least one fault signal to determine the signal difference between the signal norms of pyrocatechin of rabochaia and signal standards and astromaterials exceeding its third threshold signal to form a fourth fault signal, occasionally on the time interval of five minutes to determine the signals of the difference signals giroversion signal bases and signal astromaterials and exceeding its fourth threshold signal to generate the fifth signal malfunction occasionally within four seconds after receipt of the third signal malfunction unlock the control circuit spacecraft, served on the input actuator test a test signal to measure the output signals of the gyroscopes and when they exceed the fifth threshold signal to generate a sixth signal failure.

And the device that implements the method according to claim 2, characterized in that it further comprises three schemes "OR"fourteen nonlinear blocks, six adders, four shaper signal standards pyrocatechin and shaper signal standards astromaterials, the output of astropathic through the shaper signal standards astromaterials connected with the first inputs of the fifth, sixth, seventh and eighth adders, the output of the signal shaper standards astromaterials through ninth adder connected to the input of the fifth non-linear block, the output of the first driver base is connected through serially connected to the first driver signal standards pyrocatechin, fifth and sixth adder nonlinear block to the first input of the first circuit "IL is", the output of the second shaper basis connected in series through the second driver signal standards pyrocatechin, sixth and seventh adder nonlinear block is connected to a second input of the first circuit OR the output of the third driver base connected to the third input of the first circuit OR connected in series through the third signal shaper standards pyrocatechin, seventh and eighth adder nonlinear block, the fourth output of the shaper base connected to the fourth input of the first circuit OR connected in series through the fourth signal shaper standards pyrocatechin, the eighth adder and ninth nonlinear block, the output of the third signal shaper standards pyrocatechin through tenth adder connected to the input of the tenth nonlinear block, the output of the fourth signal shaper standards pyrocatechin connected to a second input of the tenth adder, the output of the first gyroscope through eleventh nonlinear block connected to the first input of the second circuit "OR" and connected in series through the first differential device and the twelfth nonlinear block to the first input of the third circuit OR the output of the second gyroscope through the thirteenth nonlinear block is connected to a second input of the second circuit "OR", and connected in series through the second differentsiruyushchaya and fourteenth nonlinear block with the second input of the third circuit "OR", the output of the third gyro is connected through the fifteenth nonlinear block to the third input of the second circuit "OR", and connected in series through the third differential link and sixteenth nonlinear block to the third input of the third circuit OR the output of the fourth gyro through the seventeenth nonlinear block is connected to the fourth input of the second circuit "OR", and connected in series through the fourth differentiating device and eighteenth nonlinear block to the fourth input of the third circuit "OR"the outputs of the third circuit "OR"tenth nonlinear block, the fifth nonlinear block, the first circuit OR second circuit "OR" are respectively the second, third, fourth, fifth and sixth outputs of the device.

The essence of the proposed technical solution is illustrated by figure 1, which shows the structural diagram of a device failure detection gyroscopic measuring the angular velocity vector of the spacecraft, figure 2 - non-linear static characteristic of the nonlinear blocks, figure 3 - location of the four gyroscopes in space, figure 4 - structure of the shaper signal basis, figure 5 - structure shapers signal standards pyrocatechin (and astromaterials).

In the figures, the following notation: 1 control unit, 2 - switch 3 - COI is niteline device, 4 - spacecraft, 5 - astropathic, 6 - first shaper basis, 7 - unit test signal, 8 is the first gyroscope, 9 - second shaper basis, 10 - second shaper basis, 11 - fourth shaper of the base 12 to the first delay unit, 13 is the first adder 14 is the first non-linear block, 15 - scheme "And", 16 - second gyroscope, a 17 - second delay unit, 18 - second adder 19 is the second nonlinear element 20 is the third gyro, 21 - second delay unit, 22 - third adder 23 - third of the nonlinear block, 24 - fourth gyroscope, a 25 - the fourth delay unit, 26 - fourth adder 27 - fourth of the nonlinear block, 28 - shaper signal standards astromaterials, 29, 30, 31, 32 fifth, sixth, seventh and eighth adders, respectively, 33 - ninth adder 34 - fifth of the nonlinear block 35 is the first driver signal standards pyrocatechin, 36 - sixth of the nonlinear block, 37 - second driver signal standards pyrocatechin, 38 - seventh of the nonlinear block, 39 - the third driver signal standards pyrocatechin, 40 - eighth of the nonlinear block, 41 - fourth shaper signal standards pyrocatechin, 42 - ninth nonlinear block, 43-tenth of the nonlinear block, 44 - tenth adder 45 - eleventh of the nonlinear block, 46 - second scheme "OR", 47 first differentiating device, 48 - twelfth of the nonlinear block, 49 - thirteenth of the nonlinear block, 50 - second is e a differentiating device, 51 - fourteenth nonlinear block 52 is the third scheme "OR", 53 - fifteenth of the nonlinear block, 54 - third differentiating device, a 55 - sixteenth of the nonlinear block, 56 - seventeenth nonlinear block, 57 - fourth differentiating device, a 58 - eighteenth nonlinear block, 59 - first scheme "OR"60 - second switch 61 to the control signal, the first switch 62 is a signal to control a second switch, 63, 64, 65, respectively first, second and third amplifiers 66 - the eleventh adder, 67, 68, 69 fourth, fifth and sixth amplifiers 70, 71, 72 first, second and third multipliers, respectively, 73 - twelfth adder 74 - seventh amplifier 75 is the first unit of a constant signal, 76-thirteenth adder 77 - eighth amplifier, 78, 79 fourth and fifth multipliers, respectively, 80 - second unit constant signal 81-fourteenth adder 82 - sixth multiplier, 83, 84, 85, 86, respectively the first, second, third and fourth solvers parameters pyrocatechin, 87, 88, 89, 90, respectively seventh, eighth, ninth and tenth multipliers, 91 - fifteenth adder, 92, 93, 94, 95, respectively the fifth, sixth, seventh and eighth blocks delay, 96, 97, 98, 99 - sixteenth, seventeenth, eighteenth and nineteenth multipliers, respectively, 100 - sixteenth adder.

Figure 2 shows the static features and advantages of the ka nonlinear blocks, indicated in figure 1. Static response may differ only by the value of the dead zone (-P, P), which for each nonlinear block is given a flight assignment. Thus the threshold values P in the nonlinear blocks 1 in the General case are different.

Figure 3 shows the instrument coordinate system OX_pY_pZ_pthe location of the gyro 8, 16, 20 and 24, as well as views on top of them [1]. Gyroscopes are complanare around the axis OX_pand moved to the corner of$$\frac{\pi }{2}$$relative to neighboring gyroscopes.

Figure 4 presents the structure shapers signal of the base 6, 9, 10 and 11, the same for all and consists of a large-scale amplifiers 63, 64, 65, the inputs of which receive the respective outputs of the gyroscopes, and the eleventh adder 66 vector output$${\omega }_{x_p}$$,$${\omega }_{y_p}$$,$${\omega }_{z_p}$$.

Figure 5 shows the structure shapers signal standards pyrocatechin (astrogation), which provides the characteristic calculation signal standards pyrocatechin (equally and astromaterials) for the following dependencies. By measuring the projections of the angular velocities of$${\omega }_{x_p}$$,$${\omega }_{y_p}$$,$${\omega }_{z_p}$$on the axis of the instrument coordinate system OX_pY_pZ_p(3) are determined by the angle increment

$$\Delta {\phi }_{x_p}={\omega }_{x_p}\cdot \Delta t,\Delta {\phi }_{y_p}={\omega }_{y_p}\cdot \Delta t,\Delta {\phi }_{z_p}={\omega }_{z_p}\cdot \Delta t,\text{(1)}$$

where Δt=0.1 sec,

based on the signal norms of quaternion small rotation of the spacecraft 4

$${\left(\delta \right)}^2=\mathrm{0,25}\left[{\left(\Delta {\phi }_{x_p}\right)}^2+{\left(\Delta {\phi }_{y_p}\right)}^2+{\left(\Delta {\phi }_{z_p}\right)}^2\right].\left(2\right)$$

Next, calculate the value of pyrocatechin on the i-step:

$$P_i=P_i^0+P_i^1\cdot e_1+P_i^2\cdot e_2+P_i^3\cdot e_3\left(3\right)$$

about parameters

$$\begin{array}{l}{P}_i^0=P_{i-1}^0\cdot \Delta P_0-P_{i-1}^1\cdot \Delta P_1-P_{i-1}^2\cdot \Delta P_2-P_{i-1}^3\cdot \Delta P_3;\\ P_i^1=P_{i-1}^0\cdot \Delta P_1+P_{i-1}^1\cdot \Delta P_0+P_{i-1}^2\cdot \Delta P_3-P_{i-1}^3\cdot \Delta P_2;\\ P_i^2=P_{i-1}^0\cdot \Delta P_2+P_{i-1}^1\cdot \Delta P_0+P_{i-1}^3\cdot \Delta P_1-P_{i-11}^{}\cdot \Delta P_3;\left(4\right)\\ P_i^3=P_{i-1}^0\cdot \Delta P_3+P_{i-1}^3\cdot \Delta P_0+P_{i-1}^1\cdot \Delta P_2-P_{i-1}^2\cdot \Delta P_1;\end{array}$$

where$$P_{i-1}^0$$,$$P_{i-1}^1$$,$$P_{i-1}^2$$,$$P_{i-1}^3$$options giocatori is on in the previous step i - 1.

Besides, the dependence (1) is implemented using the fourth 67, 68 fifth and sixth 69 amplifiers, the gain of which is identical and equal to 0.1.

Using the first 70 and second 71, 72 third and twelfth multipliers adder 73, a signal is generated (δ)²according to the formula 2.

The value of r is generated by a seventh amplifier 74, the first unit of the permanent signal 75, the thirteenth adder 76, the eighth amplifier 77.

Parameters pyrocatechin by expression (4) is formed first 83 and second 84, 85 third and fourth 86 solvers parameters pyrocatechin, the inputs of which receive the signals ΔP₁ΔP_2,ΔP₃ΔP₄with outputs respectively of the fourth 78, 79 fifth, sixth multipliers 82 and fourteenth adder 81, the input of which receives signals from the outputs of the second knob constant signal 80 and the seventh amplifier 74.

Values of$$P_i^0$$,$$P_i^1$$,$$P_i^2$$,$$P_i^3$$are formed respectively at the outputs of the first 8, the second 84, 85 third and sixth 86 calculators settings pyrocatechin.

After obtaining the parameters of the$$P_i^0$$,$$P_i^1$$,$$P_i^2$$,$$P_i^3$$they are delayed respectively 92 fifth, sixth 93, seventh 94 and the eighth 95 blocks of the delay on the outputs obtained detainees to beat Δt=0.1 sec parameter values$$P_{i-1}^0$$,$$P_{i-1}^1$$,$$P_{i-1}^2$$,$$P_{i-1}^3$$.

Patterns solvers parameters pyrocatechin 83, 84, 85 and 86 are formed by connecting multipliers and adder according to expressions (4) (figure 5 they are not disclosed wid the evidence of their construction).

For example, consider the first equation of the expression (4) for the calculation of$$P_i^0$$pyrocatechin on the i-th step and the structure, its implements, which is shown inside the first transmitter 83 settings pyrocatechin. Figure 5 shows that the inputs of the seventh 87, 88 eighth, ninth 89 and 90 tenth multipliers supplied respectively ΔP₀ΔP₁ΔP_2,ΔP₃from the outputs of the multipliers 78, 79, 82 and the adder 81 and retained on the beat Δt=0.1 sec signals$$P_{i-1}^0$$,$$P_{i-1}^1$$,$$P_{i-1}^2$$,$$P_{i-1}^3$$with outputs 92 fifth, sixth 93, seventh 94 and eighth blocks 95 delay. The output of the fifteenth adder 91 get a signal$$P_i^0$$according to the first equation.

Similarly retrieved page is ctory second 84, third 85, fourth solvers parameters pyrocatechin, which are built on the second, third and fourth equations of expression (4).

Further, with the sixteenth 96, seventeenth 97, eighteenth 98, nineteenth 99 multipliers and sixteenth adder 100 is formed of pyrocatechin P_iat the i-th step according to the expression

$${\Vert P_i\Vert }^2={\left(P_i^0\right)}^2+{\left(P_i^1\right)}^2+{\left(P_i^2\right)}^2+{\left(P_i^3\right)}^2.\left(5\right)$$

Figure 5 shows don't all think the appropriate connections. This is done in order not to clutter the drawing. Of the four equations of expression (4) it is obvious that the inputs of all solvers parameters pyrocatechin 83, 84, 85, 86 must submit ΔP_jand$$\Delta P_{i-1}^j$$,$$j=\stackrel{}{\mathrm{0,3}}$$.

In cases where fault is not generated, the information gyroscopic measuring the angular velocity vector of the spacecraft is reliable and can be used to generate a control signal in the control device 1. Otherwise, the control device 1, the control signal is not generated due to the unreliability of the information received.

The sequence of steps of the method of failure detection is implemented as a device fault finding, therefore, the formation of six fault trace, using figure 1.

The first fault signal specified in the restrictive part of the claims on the method, is formed on the circuit output And 15.

If the signals at the outputs of the gyroscopes 8, 16, 20 and 24 are not changed within 5 seconds, it will lead to the fact that the signals entering nosummary 13, 18, 22 and 26, respectively when compared with signals, "detainees" at step h, the outputs of the delay blocks 12, 17, 21 and 25 to provide a zero signal or close to it - less threshold P (see figure 2). At the output schema And 15 will be 1 zero signal, which will be considered a receipt of the first fault signal. In this case, does not operate normally, none of the gyroscope. If not all the faulty gyroscopes, the number of faulty gyroscope can be determined by measuring the outputs alternately nonlinear blocks 14, 19, 23, 27.

The second fault signal to get the output of the third circuit OR 52, the inputs is derived from the output signals of the gyroscopes. If the derivative will be greater than the first threshold signal, the output of the corresponding linear block 48, 51, 55 or 58, a signal will appear, indicating that the rate of change of the output signal of the gyro more valid and this gyro is faulty. Therefore, the appearance of non-zero signal at the output of the third circuit "OR" 52 would indicate a failure of at least one gyroscope. What gyro is defective, you can learn, if we measure the outputs of the nonlinear blocks 48, 51, 55, 58.

The third fault signal to get the output of the nonlinear block 43, to which input signal the difference between the two but the m /s outputs shapers 39 and 41/ from signals of bases, formed from the three output signals of the gyroscopes (see Figure 1).

The fourth fault signal to get the output of the nonlinear block 34 in that case, if the signal difference between the norm of the signal of the working base 6 and the norm of the signal astropathic 5 exceeds the third threshold signal set in the nonlinear block 34.

The fifth fault signal is generated when exceeding the difference of the output signals of one of giroversion 35, 37, 39, 41 and astromaterials 5 threshold signal, set the same in nonlinear blocks 36, 38, 40, 42.

The sixth fault signal at the output of the second circuit OR 46 is formed after the feedback of the output signals of the gyro 8, 16, 20 or 24 on the test input stimulus to the input actuators 3 - after disabling the output signal of the control device 1 for a time within four seconds, switch 2, which at this time connects the test signal output unit of the test signal at the input of actuator devices 3.

Detection of faults gyroscopic measuring the angular velocity vector of the spacecraft is in the process of functioning of a control system that includes a control device 1, the switch 2, the actuator 3, the actual spacecraft 4, gyroscopic change Italy 8, 16, 20, 24, astropathic 5, "working" driver basis (6, 9, 10 or 11) and the second switch 60.

The commands that control the first 2 and 60 second switches are formed in the flight task and figure 1 - figure 5 is not reflected. In flight setting values are set threshold signal P of all non-linear blocks and forming temporary timeline at the time of connection of the test signal for 4 seconds, on the formation and implementation of temporal intervals of five seconds of the measuring channel and the second and the selection and implementation of moments of connection "working" shaper basis with a switch 60 on command 62.

As can be seen from figure 1 and figure 4, the outputs of the shapers base 6, 9, 10 and 11 are vector, the output vector$${\omega }_{x_p}$$,$${\omega }_{y_p}$$,$${\omega }_{z_p}$$come on inputs shapers 35, 37, 39, 41 signal standards pyrocatechin, and the angular velocity ω on the input of the second switch 60.

The output signals of the gyro 8, 16, 20 and 24 are received at the input of the differentiating device 47, 50, 54 and 57, nonlinear blocks 56, 53, 4 and 45, shapers base 6, 9, 10 and 11, adders 8, 13, 18 and 26, and delay blocks 12,17, 21 and 25 as shown in figure 1.

The output signals of each of the adders is fed to the input of the nonlinear block. The output signal of the adder 26, for example, represents the increment readings gyro 24 for a step of Δt=0.1 sec. If it does not exceed the first threshold signal, is installed in the nonlinear block 27, the output of the latter will be a zero signal. This will indicate the health of the gyroscope 24. Similarly checks whether the remaining gyroscopes, containing for each gyroscope same connection of the blocks of the delay adders and nonlinear blocks. Therefore, the outputs of the nonlinear blocks 23, 19, 14 will be zero signals in the case of health gyroscopes, respectively, 20, 16 and 8. If readings increment during the time Δt=0.1 sec gyro will be unacceptably large, i.e. to exceed the absolute value of the norm (- P, P), then the output of the nonlinear block is formed by the first fault signal, which will appear on the output of the circuit OR 15.

If the angular acceleration (or derivatives of the output signals of the gyro 8, 16, 20 and 24 will be provided in nonlinear blocks 48, 51, 55 and 58 of the border, will appear at the outputs of the second fault signal, it will appear at the output of the second circuit "OR" 52. Is this the exceeding of the first threshold signal nonlinear blocks 51, 55, 48, 58.

The third fault signal is generated at the output of the nonlinear block 43, when the difference of the outputs 41 fourth and third 39 shapers signal standards pyrocatechin to exceed the bounds (- P, P), i.e. when exceeding the second threshold signal nonlinear block 43.

On the fifth output of the nonlinear block 34 receives the fourth fault signal when exceeding the difference from the outputs of the shaper signal standards astromaterials 28 and the output of the first driver signal standards pyrocatechin 35 third threshold signal set in the fifth nonlinear block 34. The structure of the signal shaper standards astromaterials exactly the same as the structure of the signal shaper standards pyrocatechin presented on figure 5.

The fifth fault signal appears at the output of the first circuit "OR" 59 in that case, if the signal difference of the norms of astromaterials from the output of the signal shaper standards astromaterials 28 and signals regulations relevant giroversion with outputs of the first 35 and second 37, 39 third and fourth 41 shapers signal standards pyrocatechin obtained from the outputs of the adders 29, 30, 31, 32, exceeds the range of allowable values, limited nonlinear blocks 36, 38, 40 and 42, as shown in figure 1.

This procedure is performed occasionally for 5 minutes.

the Estai a fault signal is generated at the output of the second circuit "OR" 46 after receiving the third signal failure.

The formation of the signal from the outputs of the gyroscopes 8, 16, 20, 24 in this period of time within 4 seconds is a reaction of series-connected actuators 3 and spacecraft 4 test a test signal output from the test signal generator 7. The first switch 2 on the team flight task 61 disconnects the control circuit spacecraft 4 - disconnects the output control device 1 from the entrance actuators 3. Nonlinear blocks 45, 49, 53 and 56 at its output generates a sixth command malfunction of the corresponding gyroscope when exceeding the input signals of the fifth threshold signal.

Thus, the proposed method and the device for its realization, allows you to control the measurement channel angular velocity ω and produce outputs schemes "And" 15, nonlinear blocks 34, 43 and schemes "OR" 46, 52 and 59 of the fault signals. In case of failure on the outputs of the circuits OR receive a single signal, and the circuit output And a zero signal. In the flight task set threshold nonlinear blocks, different for each channel forming fault - from first to sixth, but in each channel to create a certain type of failure signal thresholds P are the same. For example, when forming the fifth fault there are four nelin is inih block 36, 38, 40 and 42 with the same thresholds. But the latter is not equal to the thresholds in the formation of the sixth failure signal to the thresholds established in the nonlinear blocks 45, 49, 53, 56.

After receiving any type of malfunction it is necessary to conduct activities aimed at preventing the influence of faults on the performance of the control system. The circuitry for performing these activities in the application are not specified.

The technical result from the use of the proposed technical solution (method and device implementing the method) is to improve the reliability and accuracy of the method and device for measuring the angular velocity of the spacecraft.

Inventive step of the claimed method and device implementation is confirmed by the distinctive part of the formula of the invention according to items 1 and 2.

Literature

1. Ukhanov E.V. Development of algorithms for control and diagnostics system attitude control of spacecraft. Summary. - Kharkiv: Kharkiv Polytechnic Institute. 2005. C.56-62, 80-86 http://www.bestreferat-32636.html/prototip/.

2. Ukhanov E.V. Development of algorithms for control and diagnostics system attitude control of spacecraft. Summary. -Kharkov: HLI. 2005. C.23-47, 62-96 http://www.bestreferat-32636.html/prototip/.

1. The method of determining fault gyroscopic measuring the angular velocity vector of the spacecraft, the bookmark is different in that, what form four output signals of the gyroscopes, four signal bases, and when the tenure of the output signals of the gyroscopes within five seconds to form a first fault signal, characterized in that form five threshold alarms, norms giroversion, signals norms bases, signal standards astromaterials, determine the rate of change of the output signals of each of the gyroscopes and when they exceed the first threshold signal to generate a second fault signal detect signals of the difference signals giroversion bases and when they exceed the second threshold signal to form a third fault signal, after receiving at least one fault signal to determine the signal difference between the signal norms of working pyrocatechin basis and signal standards astromaterials when exceeded its third threshold signal to generate a fourth signal malfunction occasionally on the time interval of five minutes to determine the signals of the difference signals giroversion signal bases and signal astromaterials and exceeding its fourth threshold signal to generate the fifth signal malfunction occasionally within four seconds after receipt of the third signal malfunction unlock the control circuit spacecraft, served on the entrance fulfill inogo device test test signal, measure the output signals of the gyroscopes and when they exceed the fifth threshold signal to generate a sixth signal failure.

2. A device for determining fault gyroscopic measuring the angular velocity vector of the spacecraft containing the serially connected control device, the first switch, the actuator, spacecraft and astropathic, the second output of the spacecraft is connected through serially connected first gyroscope, the first imaging unit basis and the second switch to the first input of the control unit, the second input of the first switch is connected with the output of the test signal generator, the output of the first gyroscope connected to the first input of the first adder, the first inputs of the second and third formers base and connected in series through the first delay unit, a first adder and the first nonlinear block with the first input of the differential And, the third output of the spacecraft through the second gyroscope connected to the first input of the fourth imaging unit basis, the second inputs of the second and third formers basis, with the first input of the second adder, the output of the second gyroscope is connected through serially connected second delay unit, a second adder and a second non-linear unit with the second input circuit And, Thursday is rty output of the spacecraft through the third gyro is connected to the third input of the first imaging unit basis, with the second inputs of the third and fourth formers basis, with the first input of the third adder, and the output of the third gyro connected in series through the third adder, the third nonlinear block is connected to the third input circuit And the fifth output of the spacecraft through the fourth gyro is connected to the third inputs of the second, third and fourth formers bases, the output of the fourth gyro connected to the first input of the fourth adder and through the series-connected fourth delay unit, the fourth adder and the fourth nonlinear block with the fourth input circuit And the second input control device is input, and the output of the circuit And the first output device, the outputs of the second, third and fourth formers basis connected respectively with the second, third and fourth inputs of the second switch, characterized in that it contains three additional schemes "OR"fourteen nonlinear blocks, six adders, four shaper signal standards pyrocatechin and shaper signal standards astromaterials, the output of astropathic through the shaper signal standards astromaterials connected with the first inputs of the fifth, sixth, seventh and eighth adders, the output of the signal shaper standards astromaterials through ninth adder connected to the input p is also non-linear block, the output of the first driver base is connected through serially connected to the first driver signal standards pyrocatechin, fifth and sixth adder nonlinear block to the first input of the first circuit OR the output of the second shaper basis connected in series through the second driver signal standards pyrocatechin, sixth and seventh adder nonlinear block is connected to a second input of the first circuit OR the output of the third driver base connected to the third input of the first circuit OR connected in series through the third signal shaper standards pyrocatechin, seventh and eighth adder nonlinear block, the fourth output of the shaper base connected to the fourth input of the first circuit OR through serially connected fourth signal shaper standards pyrocatechin, the eighth adder and ninth nonlinear block, the output of the third signal shaper standards pyrocatechin through tenth adder connected to the input of the tenth nonlinear block, the output of the fourth signal shaper standards pyrocatechin connected to a second input of the tenth adder, the output of the first gyroscope through eleventh nonlinear block connected to the first input of the second circuit "OR" and connected in series through the first differential device and the twelfth nonlinear the block to the first input of the third circuit "OR", the output of the second gyroscope through the thirteenth nonlinear block is connected to a second input of the second circuit "OR", and connected in series through the second differentiating device and fourteenth nonlinear block with the second input of the third circuit OR the output of the third gyro is connected through the fifteenth nonlinear block to the third input of the second circuit "OR", and connected in series through the third differential link and sixteenth nonlinear block to the third input of the third circuit OR the output of the fourth gyro is connected through the seventeenth nonlinear block to the fourth input of the second circuit "OR", and through serially connected ketvirtadienis device and eighteenth nonlinear block to the fourth input, the outputs of the third circuit "OR"tenth nonlinear block, the fifth nonlinear block, the first circuit OR second circuit "OR" are respectively the second, third, fourth, fifth and sixth outputs of the device.