Research On Dynamic Update Technology Of Control Software For Space Manipulator

With the development of space technology,the space exploration activities of mankind's are becoming more and more frequent,and the requirements for the space manipulator are becoming higher and higher.It is more and more urgent for on-orbit space manipulator to be renewed and maintained in the increasingly harsh space environment and complex space exploration tasks.In the case where it is difficult to replace hardware equipment,improving the working performance of the control software for space manipulator has become a feasible way to improve the quality of space exploration.When implementing the update operation,control software of the space manipulator can easily cause the equipment to be uncontrollable if the software shut down,which will bring the huge safety risks trouble to the space manipulator.Therefore,in order to realize the runtime update of the software,it is of great theoretical significance and practical value to study the dynamic update technology of the control software for space manipulator.This paper takes the control software for space manipulator as the research object,and the scientific questions of architecture's design and description of control software space manipulator,research on dynamic updating strategy of control software for space manipulator is studied.The main research work is as follows:Firstly,in order to realize the macroscopic design and description of the software,the architecture's design and description of the control software for space manipulator is studied.According to the characteristics of control software for space manipulator,the requirement of the description method of software architecture is clarified.Based on this requirement,by analyzing the description method of traditional architecture and considering the influence of dynamic update of space manipulator on the change of software architecture,a relational view model describing the logical relationship between software components is proposed.Based on this model,we combine relational view model with traditional "4+1"view model to design the architecture of control software for space manipulator,describe the software from six different angles and three logical relations,and provide guidance for the development of software.Secondly,aiming at the key technology in the process of software dynamic update,the research on the dynamic update strategy of the control software for space manipulator is carried out.In order to solve the problem that multi-component work together after software update brings multi-source data structure and complex definition of component interface.In order to improve the traditional interaction protocol,the self-interpretation function is added to the data interaction protocol,and the interface call form of the component is designed from different execution stages to realize the standardized call of the component.On this basis,in order to achieve the orderly and efficient transmission of data,a data transmission strategy is designed based on the communication protocol and component interfaces;In order to implement multi-component update of software,considering the limited scope of existing method updates and the lack of scheduling strategies for component updates,a software configuration file description rule is designed based on the XML language.Through the configuration file,the changes of components and logical relationship between components are provided to software,and the plug-in technology is combined to realize the update and orderly adjustment of multi-component when software is running.Thirdly,aiming at the software reliability analysis after the software performs the dynamic update operation,the research on the dynamic update characterization of the control software for space manipulator is conducted.Based on the theory of algebra,the formal representation of software system is carried out to solve the problem that the internal behavior of software is invisible to the designer,so as to provide a feasible way to analyze the update behavior in software.Based on the formal representation method,the algebra operation expression of software is established,and the dependency and sensitivity of components are analyzed to guide the software design in reverse.Finally,based on the example of updating the control software of space manipulator,the method proposed in this paper is verified.Finally,the simulation control software for space manipulator is developed to verify the dynamic update technology of the software.In order to verify the effectiveness and practicability of the proposed method,the function and sensitivity of the software update operation are tested.