1、BSI Standards PublicationBS EN 16603-60-10:2014Space engineering ControlperformancesBS EN 16603-60-10:2014 BRITISH STANDARDNational forewordThis British Standard is the UK implementation of EN16603-60-10:2014.The UK participation in its preparation was entrusted to TechnicalCommittee ACE/68, Space s
2、ystems and operations.A list of organizations represented on this committee can beobtained on request to its secretary.This publication does not purport to include all the necessaryprovisions of a contract. Users are responsible for its correctapplication. The British Standards Institution 2014. Pub
3、lished by BSI StandardsLimited 2014ISBN 978 0 580 84090 6ICS 49.140Compliance with a British Standard cannot confer immunity fromlegal obligations.This British Standard was published under the authority of theStandards Policy and Strategy Committee on 30 September 2014.Amendments issued since public
4、ationDate Text affectedBS EN 16603-60-10:2014EUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN 16603-60-10 September 2014 ICS 49.140 English version Space engineering - Control performances Ingnierie spatiale - Performance de systmes de contrle Raumfahrttechnik - Steuerungsleistung This European
5、Standard was approved by CEN on 1 March 2014. CEN and CENELEC members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical referenc
6、es concerning such national standards may be obtained on application to the CEN-CENELEC Management Centre or to any CEN and CENELEC member. This European Standard exists in three official versions (English, French, German). A version in any other language made by translation under the responsibility
7、 of a CEN and CENELEC member into its own language and notified to the CEN-CENELEC Management Centre has the same status as the official versions. CEN and CENELEC members are the national standards bodies and national electrotechnical committees of Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech
8、Republic, Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and United Kingdom. CEN-
9、CENELEC Management Centre: Avenue Marnix 17, B-1000 Brussels 2014 CEN/CENELEC All rights of exploitation in any form and by any means reserved worldwide for CEN national Members and for CENELEC Members. Ref. No. EN 16603-60-10:2014 EBS EN 16603-60-10:2014EN 16603-60-10:2014 (E) 2 Table of contents F
10、oreword 5 Introduction 6 1 Scope . 7 2 Normative references . 8 3 Terms, definitions and abbreviated terms 9 3.1 Terms from other standards 9 3.2 Terms specific to the present standard . 9 3.3 Abbreviated terms. 14 4 Performance requirements and budgeting 15 4.1 Specifying a performance requirement
11、. 15 4.1.1 Overview . 15 4.1.2 Elements of a performance requirement . 16 4.1.3 Elements of a knowledge requirement 16 4.1.4 Probabilities and statistical interpretations . 17 4.2 Use of error budgeting to assess compliance . 17 4.2.1 Scope and limitations 17 4.2.2 Identification and characterisatio
12、n of contributors 18 4.2.3 Combination of contributors 19 4.2.4 Comparison with requirement . 21 5 Stability and robustness specification and verification for linear systems 23 5.1 Overview 23 5.2 Stability and robustness specification . 24 5.2.1 Uncertainty domains . 24 5.2.2 Stability requirement
13、. 26 5.2.3 Identification of checkpoints 26 5.2.4 Selection and justification of stability margin indicators . 27 5.2.5 Stability margins requirements 27 5.2.6 Verification of stability margins with a single uncertainty domain . 28 BS EN 16603-60-10:2014EN 16603-60-10:2014 (E) 3 5.2.7 Verification o
14、f stability margins with reduced and extended uncertainty domains 28 Annex A (informative) Use of performance error indices . 29 A.1 Formulating error requirements. 29 A.1.1 More about error indices . 29 A.1.2 Statistical interpretation of requirements . 30 A.1.3 Knowledge requirements. 32 A.1.4 Spe
15、cifying the timescales for requirements . 32 A.2 More about performance error budgets . 34 A.2.1 When to use an error budget . 34 A.2.2 Identifying and quantifying the contributing errors . 35 A.2.3 Combining the errors . 36 A.2.4 Comparison with requirements 38 Annex B (informative) Inputs to an er
16、ror budget 40 B.1 Overview 40 B.2 Bias errors 41 B.3 Random errors 42 B.4 Periodic errors (short period) 44 B.5 Periodic errors (long period) . 44 B.6 Distributions of ensemble parameters . 45 B.7 Using the mixed statistical distribution 48 Annex C (informative) Worked example 49 C.1 Scenario and re
17、quirements . 49 C.2 Assessing the contributing errors 50 C.3 Compiling the pointing budgets . 52 Annex D (informative) Correspondence with the pointing error handbook . 54 References . 55 Bibliography . 56 Figures Figure A-1 : Example showing the APE, MPE and RPE error indices . 30 Figure A-2 : Exam
18、ple showing the PDE and PRE error indices 30 Figure A-3 : Example of a statistical ensemble of errors. 31 Figure A-4 : The different ways in which a requirement for P(| 0,9 can be met . 32 Figure A-5 : Illustration of how the statistics of the pointing errors differ depending on which statistical in
19、terpretation is used 32 BS EN 16603-60-10:2014EN 16603-60-10:2014 (E) 4 Figure C-1 : Scenario example . 50 Tables Table B-1 : Parameters whose distributions are assessed for the different pointing error indices (knowledge error indices are similar) 41 Table B-2 : Budget contributions from bias error
20、s, where B represents the bias . 42 Table B-3 : Budget contributions from zero mean Gaussian random errors 43 Table B-4 : Uniform Random Errors (range 0-C) 43 Table B-5 : Budget contributions for periodic errors (low period sinusoidal) 44 Table B-6 : Budget contributions for periodic errors (long pe
21、riod sinusoidal) 45 Table B-7 : Some common distributions of ensemble parameters and their properties . 47 Table C-1 : Example of contributing errors, and their relevant properties . 51 Table C-2 : Example of distribution of the ensemble parameters 52 Table C-3 : Example of pointing budget for the A
22、PE index . 53 Table C-4 : Example of pointing budget for the RPE index . 53 Table D-1 : Correspondence between Pointing error handbook and ECSS-E-ST-60-10 indicators 54 BS EN 16603-60-10:2014EN 16603-60-10:2014 (E) 5 Foreword This document (EN 16603-60-10:2014) has been prepared by Technical Committ
23、ee CEN/CLC/TC 5 “Space”, the secretariat of which is held by DIN. This standard (EN 16603-60-10:2014) originates from ECSS-E-ST-60-10C. This European Standard shall be given the status of a national standard, either by publication of an identical text or by endorsement, at the latest by March 2015,
24、and conflicting national standards shall be withdrawn at the latest by March 2015. Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights. CEN and/or CENELEC shall not be held responsible for identifying any or all such patent rights. Thi
25、s document has been prepared under a mandate given to CEN by the European Commission and the European Free Trade Association. This document has been developed to cover specifically space systems and has therefore precedence over any EN covering the same scope but with a wider domain of applicability
26、 (e.g. : aerospace). According to the CEN-CENELEC Internal Regulations, the national standards organizations of the following countries are bound to implement this European Standard: Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech Republic, Denmark, Estonia, Finland, Former Yugoslav Republic of M
27、acedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and the United Kingdom. BS EN 16603-60-10:2014EN 16603-60-10:2014 (E) 6 Introduction This
28、standard focuses on the specific issues raised by managing performance aspects of control systems in the frame of space projects. It provides a set of normative definitions, budget rules, and specification templates applicable when developing general control systems. The standard is split up in two
29、main clauses, respectively dealing with: Performance error indices and analysis methods. Stability and robustness specification and verification for linear systems. This document constitutes the normative substance of the more general and informative handbook on control performance, issued in the fr
30、ame of the E-60-10 ECSS working group. If clarifications are necessary (on the concepts, the technical background, the rationales for the rules for example) the readers should refer to the handbook. NOTE It is not intended to substitute to textbook material on automatic control theory, neither in th
31、is standard nor in the associated handbook. The readers and the users are assumed to possess general knowledge of control system engineering and its applications to space missions. BS EN 16603-60-10:2014EN 16603-60-10:2014 (E) 7 1 Scope This standard deals with control systems developed as part of a
32、 space project. It is applicable to all the elements of a space system, including the space segment, the ground segment and the launch service segment. It addresses the issue of control performance, in terms of definition, specification, verification and validation methods and processes. The standar
33、d defines a general framework for handling performance indicators, which applies to all disciplines involving control engineering, and which can be applied as well at different levels ranging from equipment to system level. It also focuses on the specific performance indicators applicable to the cas
34、e of closed-loop control systems mainly stability and robustness. Rules are provided for combining different error sources in order to build up a performance error budget and use this to assess the compliance with a requirement. NOTE 1 Although designed to be general, one of the major application fi
35、eld for this Standard is spacecraft pointing. This justifies why most of the examples and illustrations are related to AOCS problems. NOTE 2 Indeed the definitions and the normative clauses of this Standard apply to pointing performance; nevertheless fully specific pointing issues are not addressed
36、here in detail (spinning spacecraft cases for example). Complementary material for pointing error budgets can be found in ECSS-E-HB-60-10. NOTE 3 For their own specific purpose, each entity (ESA, national agencies, primes) can further elaborate internal documents, deriving appropriate guidelines and
37、 summation rules based on the top level clauses gathered in this ECSS-E-ST-60-10 standard. This standard may be tailored for the specific characteristic and constrains of a space project in conformance with ECSS-S-ST-00. BS EN 16603-60-10:2014EN 16603-60-10:2014 (E) 8 2 Normative references The foll
38、owing normative documents contain provisions which, through reference in this text, constitute provisions of this ECSS Standard. For dated references, subsequent amendments to, or revision of any of these publications do not apply, However, parties to agreements based on this ECSS Standard are encou
39、raged to investigate the possibility of applying the more recent editions of the normative documents indicated below. For undated references, the latest edition of the publication referred to applies. EN reference Reference in text Title EN 16601-00-01 ECSS-S-ST-00-01 ECSS System Glossary of terms B
40、S EN 16603-60-10:2014EN 16603-60-10:2014 (E) 9 3 Terms, definitions and abbreviated terms 3.1 Terms from other standards For the purpose of this Standard, the terms and definitions from ECSS-S-ST-00-01 apply, in particular for the following terms: error performance uncertainty 3.2 Terms specific to
41、the present standard13.2.1 absolute knowledge error (AKE) instantaneous value of the knowledge error at any given time NOTE 1 This is expressed by: () ()KAKE t e t= NOTE 2 See annex A.1.3 for defining requirements on the knowledge error. 3.2.2 absolute performance error (APE) instantaneous value of
42、the performance error at any given time NOTE This is expressed by: () ()PAPE t e t= 3.2.3 error index parameter isolating a particular aspect of the time variation of a performance error or knowledge error NOTE 1 A performance error index is applied to the difference between the target (desired) out
43、put of the system and the actual system output. 1As a preliminary note, the error signals introduced in clause 3.2 are very general. They represent any type of physical quantity (e.g. attitude, temperature, pressure, position). According to the situation and to the nature of the control system, they
44、 are scalar or multi-dimensional. BS EN 16603-60-10:2014EN 16603-60-10:2014 (E) 10 NOTE 2 A knowledge error index is applied to the difference between the actual output of the system and the known (estimated) system output. NOTE 3 The most commonly used indices are defined in this chapter (APE, RPE,
45、 AKE etc.). The list is not limitative. 3.2.4 individual error source elementary physical characteristic or process originating from a well-defined source which contributes to a performance error or a performance knowledge error NOTE For example sensor noise, sensor bias, actuator noise, actuator bi
46、as, disturbance forces and torques (e.g. microvibrations, manoeuvres, external or internal subsystem motions), friction forces and torques, misalignments, thermal distortions, assembly distortions, digital quantization, control law performance (steady state error), jitter, etc. 3.2.5 knowledge error
47、 difference between the known (estimated) output of the system and the actual achieved output NOTE 1 It is denoted by eK. NOTE 2 Usually this is time dependent. NOTE 3 Sometimes confusingly referred to as “measurement error”, though in fact the concept is more general than direct measurement. NOTE 4
48、 Depending upon the system, different quantities can be relevant for parameterising the knowledge error, in the same way as for the performance error. A degree of judgement is used to decide which is most appropriate. NOTE 5 For example: the difference between the actual and the known orientation of
49、 a frame can be parameterised using the Euler angles for the frame transformation or the angle between the actual and known orientation of a particular vector within that frame. 3.2.6 mean knowledge error (MKE) mean value of the knowledge error over a specified time interval NOTE 1 This is expressed by: () ()1()KKtMKE t e te t dtt= =BS EN 16603-60-10:2014EN 16603-60-10:2014 (E) 11 NOTE 2 See annex A.1.4 for discussion of how to specify the interval t, and annex A.1.3 for defining requirements on the knowledge error. 3.2.7 mean performance error (MPE) mean value of t
