Cognitive-synergetic approach to the design of automated spacecraft with onboard systems with variability properties Vladimir S. Kovtuna and Alexander N. Pavlovb,c a S.P. Korolev Rocket and Space Corporation Energia (RSC Energia).4A Lenin Street, Korolev, Moscow area, 141070, Russia b Federal state budgetary military educational institution of higher education «Military space Academy named after A.F.Mozhaysky» of the Ministry of Defence of the Russian Federation, Zhdanovskaya st., 13, Saint- Petersburg, 197198, Russia c Saint Petersburg Federal Research Center of the Russian Academy of Sciences (SPC RAS).14th line of Vasilievsky island, 39, Saint Petersburg, 199178, Russia Abstract Increasing the resource support for the flight of automatic spacecraft (AS) under the existing design restrictions on the mass of onboard systems (OS) and the power of power sources is an important scientific problem. One of the ways to solve the problem is to form relationships between elements of different systems during the design and development of control systems, which allow simultaneous control of several control objects (CO) using one system, thereby providing the solution of two or more functional tasks. At the same time, the composition of on-board controls is reduced or additional functional reserves are formed while maintaining it. This provides additional resources and increases the survivability of the AS. The article discusses a general approach to the design of OS control systems that simultaneously perform several functions in synergistic interaction. The possibility of practical implementation of the system construction based on the proposed approach is shown by the example of designing a phased antenna array of an on-board radio engineering complex. Keywords Automatic spacecraft, phased array antenna, control object, synergy, variability, onboard resources, cognitive, system. 1 Introduction1 control systems are developed, which includes subsystems that have the ability to control several To supplement the on-Board structural and on-Board processes in different control objects functional resources of the AS with synergetic (the property of variability). Systems that have resources [1,2], a cognitive-synergetic*) system this property are called "variable process control approach to the development and construction of systems". OS management methods was developed. The To explain the initial provisions of the essence of the approach is a cognitive system principle, Figure 1 shows a diagram of a dynamic study of the characteristics of AS as an open, model of a variable system-a process controller, nonlinear complex technical system, taking into which shows two control systems CS1 and CS 2 account the synergistic phenomena in its OS. that have a synergistic energy relationship. Each Based on the cognitive-synergetic approach, a of the systems initially consists of control new principle of synergetic - variable design of subsystems CSS1, CSS2 and control objects CO1, CO2 [3]. In turn, each CO is represented Models and Methods for Researching Information System in by its own state blocks SB1, SB2, which are on- Transport, Dec. 11-12, St.Petersburg, Russia board AS systems, and output blocks OB1, OB2. EMAIL: kovtun_v11@mail.ru (V.S. Kovtun); Pavlov62@list.ru (A.N. Pavlov); * ) cognitive-synergetic approach - "cognizing ORCID: 0000-0002-1201-6558 (V.S. Kovtun); 0000-0002-6193- joint activity": adjective "cognitive" from Latin 8882 (A.N. Pavlov). cognitio knowledge, cognition; "synergetic" adjective ©️ 2020 Copyright for this paper by its authors. Use permitted under Creative Commons License Attribution 4.0 International (CC BY 4.0). from "synergy" - from Greek. συν-prefix with the CEUR Workshop Proceedings (CEUR-WS.org) meaning of compatibility and εϱγον "activity". 76 In addition to these, the following set In contrast to the property of multi- designations are introduced: X1, X2 - States of functionality of systems, in which a separate CO1, CO2; Y1, Y2-outputs of CO1, CO2; Ξ- system-process controller performs several disturbing effects; U1, U2-control effects on CO1, functional purposes due to its structure in the CO2. In this case, the control is carried out form of a set of elements and relationships through the sets of input actions V1 and V2, built between them, variable systems implement on the binary relations of Cartesian products V1 additional functions due to the interaction of = U1× Ξ, V2 = U2× Ξ. systems, in the presence of synergistic relationships in the processes. The multi- functionality in figure 1 would be denoted by the set of outputs of the CO1. For example, jet flywheels (JF) with regenerative rotor control windings simultaneously perform the functions of a power gyroscope and an electric power generator when the rotor is decelerated [4]. Thus, each JF is a two-function system. Therefore, if the considered principle of synergetic - variable design of control systems is observed, a multifunctional system can also become variable. The design task is to obtain and use a priori information about the variability properties of regulatory systems to create new methods for controlling AS. This expands the scope of Figure 1. Diagram of a dynamic model of a searching for solutions to functional problems in variable system-process controller in SB1, SB2 the complex process of flight control of the As can be seen from Figure 1, the traditional vehicle, complementing its structural and control of SB2 in CS2 through CSS2 is replaced functional onboard resources with synergistic by control through SB1, taking into account the resources. In addition, the variability of process second feedback between OB2 and CSS1. In this control systems can provide pre-prepared case, the output of OB1 is connected to the first technical measures that increase the survivability input of CSS1. The control action U1 is formed of on-Board systems. The calculated reserve for taking into account the fact that when SB1 parrying abnormal flight situations in case of performs its functions, the processes failures are elements of other variable control simultaneously form the control action U2 for systems used in the new functional purpose. SB2. At the same time, the condition of maintaining the functionality of SB1 is met, 2 Phased array antenna as a control including after the termination of control over the U2 line. SB1 as part of CO1 is the "control object subsystem" for SB2 in CO2. The presence of control over the U2 line creates a functional Currently, flat phased array antennas (PAA) reserve for the control of the CO2. If you do not are increasingly used on Board the AS in solving use the line, then you need to use an additional problems of providing personal satellite CSS2 to control the OP2. Thus, CS1 has the communications, including retransmission of "property of variability" in the form of existing signals from a personal mobile subscriber trunk control options SB1 or SB1 and SB2, i.e. it is and exchange of special control information with simultaneously a process control system in two ground vehicles via the main communication on-Board systems SB1 and SB2. channel [5]. Due to a number of technical The criterion for evaluating the properties of a advantages, large-sized mirror antennas are variable process control system can be the gradually being "replaced" by PAA. The primary coefficient of variability (Kvar), which is equal to element of the PAA are radio signal emitters that the maximum possible number of processes provide electronic movement of the beam in one controlled by a single system. In this case, Kvar = plane [5]. Circular controlled (switchable) left or 2. the use of synergistic phenomena as a result of right direction of rotation polarization of process interactions makes it possible to design radiation and signal reception is created in a systems that control several processes at once. 77 system of orthogonally polarized emitters with a 3b — with the possibility of powering the combined phase center. module from one of the two SPS. Each PAA contains a construction plane on The arrows show the current directions in the which the working surface is placed, formed PPM. For example, the current consumption of from the receiving and transmitting modules the RTM 30...40 mA, the area of the circuit that (RTM) (figure 2), combined in panels. The it covers in one cell is ~2.5 × 10-3 m2. The external surface of the modules consists of a set number of RTM in the PAA, consisting of four of emitters of the same type. panels, each of which has 64 modular elements containing 64 RTM, will be 16384 pcs. As a result of the calculation, the total current in the secondary power supply circuits of the RTM is ~500 ...650 A, and the total area of the circuits is ~41 m2. 100 V 5V SPS1 Figure 2. The design of the PAA module 100 V 5V Each RТM consists of an antenna web made SPS2 in the form of a multi-layer printed circuit Board divided into cells (for example, see figure 2, a total of 64 square cells, with an 8×8 placement). In this case, the RTM contains an emitter, a а) matching circuit, a power amplifier (which is the main consumer of electricity), an attenuator and 100 V 100 V 5V a phase shifter in each cell of the modular 5V SPS2 SPS1 element. Control units for attenuators and phase shifters, power supply, switchgear, and beam control and correction devices are used one at a time for several RTM [6], and their placement on b) panels is positioned with the placement of the RTM and is performed inside the web at the joints of modular elements. High-frequency Figure 3. Scheme of current circuits of currents flowing along asymmetric micro strip secondary power supply of transceiver modules: lines and RTM emitters do not create permanent a-separate power supply of modules; b - with the magnetic moments [5]. In addition, currents that possibility of power supply from one of the two have their own magnetic moments flow through SPS the primary and secondary power supply circuits of the RTM in the PAA [7]. 3 Power gyroscope system as a The diagram of the current circuits of the control object secondary power supply of the RTM, projected on the working surface of the PAA module, is The system of power gyroscopes (PG) is shown in figure 3, where the current directions in designed to control the angular motion of the AS. the modules are shown. The primary power The control is carried out according to the law of supply is indicated by a line with a voltage of conservation of the kinetic moment for the AS as 100 V, and the secondary power supply is a closed system by exchanging between the indicated by a line with a voltage of 5 V. At the kinetic moments of the AS body and the PG same time, Figure 3a shows the scheme of system. However, the system is not completely separate power supply of modules from closed, since it is affected by external forces that secondary power sources (SPS) SPS1 and SPS2 create disturbing moments, among which the with multidirectional current flow, and in figure most significant are the moments of gravitational 78 forces, light pressure and magnetic moment. In In this case, the matrices A of the guide this case, the total vector of the kinetic moment cosines of the kinetic moments of the rotors of the G (t) is defined as the sum of the vectors of the same type of flywheels are given of the kinetic moments of the body K (t) and the 1 ... 4 and for comparative analysis, the PG system H (t) [8]: evaluation of the regions s by an inscribed t sphere with radius R =  carried out . G (t)= K (t)+ H (t), G (t) = G 0(t)+  M в (t)dt, 0 After "saturation" of the PG system, it is unloaded from the accumulated kinetic where G 0(t - the initial value vector G (t) ; M в moment. One of the most common methods = M sd+ M ge+ M gm+ M gs+ M mm - the main used for many years is the magnetic vector of external torque; M sd – moment of unloading method using magnetic Executive force of light pressure F sd; M ge, M gs, M gm – bodies (MEB) [11]. The applied methods for highlights from the gravitational forces of the unloading PG from the accumulated kinetic moment using the control magnetic moment Earth, Sun and moon, respectively; M mm - is the include the following actions [12]: magnetic moment, M mm = L cm× B E, where - measurement of the current value of the  M mm = L cm× B E - is the intrinsic magnetic accumulated kinetic moment vector H in moment AS; B E - vector of the magnetic field of the PG system; the Earth (MFE). - measurement of the MFE induction  Under the action of M в , the kinetic moment vector B ; accumulates in the PG system [9] to the - determination of the unit vector of the maximum possible values ("saturation") of the L B region S of the available values. As an example, unloading moment mr = r  ; Figure 4 shows variants of the S region for Lr B different configurations of single-stage PG (jet flywheels). - generation of a control signal for current Figure 4. Options have the field values of the vector of kinetic momentum of a system of reactive flywheels with the axes of rotation of the rotors of flywheels along the three axes of the associated basis and one flywheel – diagonal of a cube with an arrangement of fins along the axes of the associated basis [10] 79 loops by changing the magnitude and  L− p1 direction of current flow in the MEB to  ensure the conditions for unloading the PG L− p2 from the accumulated kinetic moment   L− p(m−1)  H  mr  h < 0, h=  . (1) L− pm H 4 Design of a phased array antenna with a controlled intrinsic magnetic Figure 6. Negative directions of magnetic moment moments of current circuits In the design of the PAA, the magnitude The values of the magnetic moment and direction of the current in the circuit of vectors differ due to the difference in the RTM are defined by p modes PAA – areas and currents of the contours. Therefore, "receiving", "transmission", "reception- when ground testing of the PAA in q RTM , transmission" of radio signals of different in each p operating mode, the values of power, where p = 1,2,...,P – number of currents in the power I pq circuits are modes of PAA, each of which is provided by the power supply in the q's of the circuits of measured and their areas S pq are determined. the secondary power RTM, where q = To determine the area, thermographs 1,2,...,Q – the set of current circuits. (thermal imagers) are used. The areas are The result for each PAA module determined by images of electric (or thermal) calculates the magnitude and direction of the fields of the power supply circuits of the vectors the intrinsic magnetic moments. RTM obtained from thermographs (thermal At the same time, they can have both imagers) [5].  positive L+p1 ...L+pn ,n = 1,2,...,N ,N  Q Directions normal n pq to each current (Figure 5) and negative directions circuit power RTM determined on the basis L−p1 ...L−pm ,m = 1,2,...,M ,M  Q (Figure 6). of the logic of the switches of the antenna array according to the algorithm of switching  of power circuit. according to these data, the L+ p1 magnetic moments of the RTM are  L+ p2 calculated   L pq = I pq S pqn pq  According to the proper magnetic L+ p(n−1)  moments of each module, the magnetic L+ pq moments are calculated for the PAA panel as a whole, in each p-th mode of its operation  Q  L p =  L pq q =1 Figure 5. Positive directions of magnetic in this case, the values can take both n and moments of current circuits m values (see figures 5,6). Therefore, the design calculation and experimental method can determine the intrinsic magnetic moment of the PAA panel in each p operating mode. Without losing the 80  functionality of the PAA, with the help of 4) selection of the p  mode of operation different variations in the switching of the of the PAA at the maximum value power supply of the modules, magnetic max  h M p for unloading the PG system; moments of different signs are formed. 5) unloading of the PG by switching on  Due to the purposeful creation of a the p  mode of operation of the PAA with controlled power path for individual   the control of the condition m p   h ≥ 0 (2), modules, the operating modes of the PAA   panels are created, in which only positive ( where m p  is the value of the vector m p for      Lp := L+ ) or negative ( Lp := L− ) intrinsic the p  mode; magnetic moments are summed up. There 6) re-selecting the PAA mode after are variants of operating modes in which the condition (2) is met by replaying steps 1) -4); vectors of different signs are mutually 7) completion of PG unloading when the  compensated, in such cases the panel is value H ≈ 0 is obtained by selecting the "magnetically balanced" ( L p  0 ). When "magnetically balanced" mode of operation of the PAA. the power is turned off for all the PAA Evaluating the effectiveness of the control modules, the grille is also "magnetically moment. balanced". For the case of unidirectional arrangement 5 Algorithm for using a phased of magnetic moments of current circuits in the secondary power supply circuits of the array antenna to unload the system previously considered PAA, the order of of power gyroscopes from the values of the total value of the intrinsic accumulated kinetic moment magnetic moment is L = L p ~ 1× 104 А∙м2. The algorithm for unloading the PG from  the accumulated kinetic moment using the The control moment is estimated for an PAA as the MEB includes the following AS containing a PAA and located in a steps:  geostationary orbit, where B ~1×10-7 Tl. In 1) measurement of the value of the kinetic  moment vector H accumulated in the PG this case, we consider the case of the system; standard orbital orientation of the AS on the   2) the choice to fulfill the condition of GSO, when the vectors L and B are L B mutually perpendicular. Then the order of unloading PG (1) for mr = m p , mp = p , values of the control moment M L modulo Lp  B     will be equal to    Lp := L− Lp := L+ V , where p modes of M L = L  B ~ 1× 10-3 Н∙м. operation of the PAA ( p = 1,..., P ), providing unloading PG from the accumulated kinetic Comparative estimates have shown that moment; the magnetic control moment has the same 3) determining the values of the vector's order of magnitude as the total moments of gravitational forces and light pressure forces  h M p projections unloading point on the acting on the AS [13].  direction vector h , 6 Conclusions (  h M p = Lp  B h  mp , ) Based on the cognitive-synergetic system    where m p , L p – the value vectors m p , approach to AS flight control, a new  principle of synergetic - variable design of L p for p modes of operation of the PAA; control systems have been developed. the variable control system designed according 81 to this principle contains a control subsystem 01505, 19–08–00989, 20-08-01046), under the that has the ability to regulate the operation budget theme 0073–2019–0004. of several on-board systems, which allows: References to reduce the weight of the on-board flight controls of the AS; to reduce the on-board [1] Kovtun V.S. 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