In-orbit high-reliability two-dimensional rotating mechanism control method and on-board software

Abstract

This invention relates to a highly reliable on-orbit two-dimensional rotating mechanism control method and its onboard software, belonging to the field of on-orbit two-dimensional rotating mechanism control technology. The method mainly includes the following steps: controlling the two-dimensional rotating mechanism to acquire and track the sun based on the on-orbit exploration mission and solar angle. During the control process of the two-dimensional rotating mechanism, an anomaly handling mechanism and a flexible mode switching method are implemented; a search mode is set to ensure that even under conditions where new offsets exist between the mechanical structures of the two-dimensional rotating mechanism during satellite launch, or when ground experiments cannot be completely consistent with on-orbit conditions, the remote sensing instrument can achieve the greatest possible success in acquiring the sun. These measures ensure the successful completion of the exploration mission by the remote sensing instrument. The timed waiting mechanism of the mode ensures that the two-dimensional rotating structure control process can still execute normally even when the control software returns a chaotic state, ensuring that the onboard software does not enter an infinite loop, thus guaranteeing the completion of the entire on-orbit mission.

Description

Technical Field

[0001] This invention relates to the field of satellite platform and onboard software technology, and in particular to a highly reliable on-orbit two-dimensional rotation mechanism control method and onboard software. Background Technology

[0002] like Figure 1 and 2 As shown, the two-dimensional rotation mechanism is mounted on the satellite platform along with the solar remote sensing instrument to perform continuous solar tracking. The spectrometer and solar sensor are fixed on the two-dimensional rotation mechanism and rotate with it. The onboard software controls the two-dimensional rotation mechanism to perform corresponding actions by switching operating modes, capturing the sun within the field of view of the solar sensor (e.g., within ±1°). Then, the two-dimensional rotation mechanism uses the sun's offset within the solar sensor's field of view to perform closed-loop solar tracking, while simultaneously controlling the spectrometer to detect the sun and download remote sensing data.

[0003] Before conducting solar exploration, the onboard software needs to control a two-dimensional rotation mechanism to track the sun. During this process, the onboard software, based on the on-orbit test mission and the sun's angle, controls the two-dimensional rotation mechanism to perform corresponding actions. The onboard software switches modes based on the status returned by the control software, ultimately achieving successful solar tracking. The success or failure of the exploration mission hinges on the ability to successfully track the sun.

[0004] In the event of an unpredictable and occasional communication failure, the control software may be unable to receive control commands from the onboard software. This would prevent the control software from switching operating modes according to the onboard software commands, which would also lead to the failure of the probe mission.

[0005] If the solar sensor malfunctions before capturing the sun or while tracking the sun using a solar sensor instrument, the onboard software needs to respond promptly to ensure that the two-dimensional rotation mechanism can track the sun using other tracking methods; otherwise, the exploration mission may fail completely or partially.

[0006] Meanwhile, solar sensors are often designed with a small field of view (e.g., ±1°×±1°) in pursuit of high resolution during development, and vibrations are unavoidable during satellite launch, causing new offsets between the coordinate systems of various mechanical structures. Since the onboard software has the coordinate system installation matrix parameters between the various mechanical structures before launch fixed in the software code, these new offsets between structures may result in the two-dimensional rotating mechanism being unable to capture and track the sun in orbit.

[0007] The ground-based simulation of the on-orbit solar acquisition and tracking experiment using a two-dimensional rotating mechanism is complex. The principle is that the light source position is fixed, and when the two-dimensional rotating mechanism is at its zero-point position in both azimuth and elevation, the light source is parallel to the optical axis of the guide mirror to simulate the sun. The two-dimensional rotating mechanism is fixed on a six-legged platform, and the attitude changes of the six-legged platform simulate the movement of the on-orbit solar remote sensing instrument. The main factors affecting the accuracy of the solar angle calculation in this process include:

[0008] 1) Satellite data simulation (solar vector, satellite attitude);

[0009] 2) Simulated satellite data processing;

[0010] 3) Simulate satellite data distribution timing constraints;

[0011] 4) Control the hexapod platform based on simulated satellite data to simulate the on-orbit movement of solar remote sensing instruments;

[0012] 5) High-precision installation between the solar remote sensing instrument and the six-legged platform;

[0013] 6) The two-dimensional rotating mechanism is on the ground and is not in a state of weightlessness.

[0014] The above factors determine that ground simulation experiments cannot be completely consistent with the on-orbit situation. Therefore, the solar angle calculation results may contain large errors or mistakes that may not be detected during the ground simulation experiment, resulting in the two-dimensional rotating mechanism being unable to capture and track the sun in orbit.

[0015] Since the onboard software's solar observation function is executed after the two-dimensional rotation mechanism control function, and the execution flow of the onboard software's two-dimensional rotation mechanism control function depends entirely on the state returned by the control software, the onboard software must not enter an infinite loop and must ensure that the control function is executed normally and smoothly, no matter how chaotic the state returned by the control software is. Otherwise, the entire on-orbit mission will fail.

[0016] Therefore, under conditions of unpredictable occasional communication failures, constant malfunctions of solar-sensitive instruments, new offsets in the mechanical structure of the two-dimensional rotating mechanism during satellite launch, ground experiments not being completely consistent with on-orbit conditions, and chaotic status returns from control software, ensuring the successful completion of remote sensing instruments' detection missions or the entire on-orbit mission becomes a challenge. Summary of the Invention

[0017] The present invention aims to solve the technical problems in the prior art by providing a highly reliable on-orbit two-dimensional rotating mechanism control method and spaceborne software.

[0018] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0019] A highly reliable on-orbit control method for a two-dimensional rotating mechanism includes the following steps:

[0020] Step 1: The main control software receives the satellite attitude and solar vector sent by the satellite in real time, calculates the solar angle and sends it to the control software of the two-dimensional rotating mechanism in real time. The main control software tracks the sun according to the on-orbit test mission and the solar angle.

[0021] Step 2: The main control software sends the standby mode to the control software. If the control software returns the working mode as standby mode, then proceed to step 3. Otherwise, the main control software sends the standby mode to the control software again before proceeding to step 3.

[0022] Step 3: The main control software sends the reload mode to the control software. If the control software returns the working mode as reload mode, then proceed to step 4. Otherwise, the main control software sends the reload mode to the control software again before proceeding to step 4.

[0023] Step 4: The main control software starts a timer for L seconds, where the value of L is determined by the loading time of the control software.

[0024] Step 5: The main control software sends the return parameter mode to the control software. This mode does not interfere with the operation of the control software, and the main control software determines in real time whether time L has expired. If time L has expired, it executes step 6; otherwise, it executes step 5 repeatedly.

[0025] Step Six: The main control software sends the exit fault handling mode to the control software. If the control software returns the working mode as exit fault handling mode, then proceed to Step Seven. Otherwise, the main control software sends the exit fault handling mode to the control software again before proceeding to Step Seven.

[0026] Step 7: The main control software starts timing for R seconds, where the value of R is determined by the warm-up time before the electronic detection.

[0027] Step 8: The main control software sends the programmable tracking mode to the control software and determines in real time whether time R has elapsed; if time R has not elapsed, it determines whether the solar angle is within the rotation angle range of the two-dimensional rotating mechanism. If it is not within the range, it executes Step 8 repeatedly; otherwise, it executes Step 9. When time R has elapsed, it executes Step 9.

[0028] Step Nine: If the solar sensor is malfunctioning or powered off, proceed to Step Eighteen; otherwise, proceed to Step Ten.

[0029] Step 10: The main control software starts timing for M seconds. The value of M is determined by the field of view of the solar remote sensing instrument and the rotation speed of the two-dimensional rotating mechanism.

[0030] Step 11: The main control software sends the programmable tracking mode to the control software and checks in real time whether the M-second time has elapsed; if the M-second time has not elapsed, it checks whether the programmable tracking mode is successful. If successful, it executes Step 12; otherwise, it repeats Step 11. When the M-second time has elapsed, it executes Step 12.

[0031] Step 12: The main control software sends the search mode to the control software. If the control software returns the working mode as search mode, then proceed to step 13. Otherwise, the main control software sends the search mode to the control software again and then proceeds to step 13.

[0032] Step 13: The main control software starts timing for N seconds, where the value of N is determined by the search trajectory and the rotation speed of the two-dimensional rotating mechanism;

[0033] Step Fourteen: The main control software sends the return parameter mode to the control software and determines in real time whether N seconds have elapsed; if N seconds have not elapsed, it determines whether the search mode is successful. If successful, it executes Step Fifteen; otherwise, it repeats Step Fourteen. When N seconds have elapsed, it executes Step Nineteen.

[0034] Step 15: The main control software starts timing for P seconds. The value of P is determined by the field of view of the solar remote sensing instrument and the rotation speed of the two-dimensional rotating mechanism.

[0035] Step 16: The main control software sends the guide mirror tracking mode to the control software and checks in real time whether the P-second time has elapsed; if the P-second time has not elapsed, it checks whether the guide mirror tracking mode is successful. If successful, it executes Step 17; otherwise, it repeats Step 16. When the P-second time has elapsed, it executes Step 19.

[0036] Step 17: The main control software starts timing for Q seconds, the value of which is determined by the system's longest detection time, and controls the system to start detection;

[0037] Step 18: The main control software sends the guide mirror tracking mode to the control software and determines in real time whether the Q-second time has elapsed or the detection has ended; if the Q-second time has not elapsed and the detection has not ended, it determines whether the guide mirror tracking mode is successful. If successful, it repeats Step 18; otherwise, it executes Step 20. If the Q-second time has elapsed or the detection has ended, it executes Step 22.

[0038] Step 19: The main control software controls the system to begin detection;

[0039] Step 20: The main control software starts timing for R' seconds, where the value of R' is determined by the system's longest detection time;

[0040] Step 21: The main control software sends the programmable tracking mode to the control software and determines in real time whether the R' second time has elapsed or the detection has ended; if the R' time has not elapsed and the detection has not ended, then step 21 is executed repeatedly; if the R' time has elapsed or the detection has ended, then step 22 is executed.

[0041] Step 22: The main control software starts timing for S seconds. The value of S is determined by the field of view of the solar remote sensing instrument and the rotation speed of the two-dimensional rotating mechanism.

[0042] Step 23: The main control software sends the zero-return mode to the control software and determines in real time whether the S-second time has elapsed or the zero-return is complete; if the S-second time has not elapsed and the zero-return mode has not been completed, then step 23 is executed repeatedly; if the S-second time has elapsed or the zero-return mode is completed, then step 24 is executed.

[0043] Step 24: The main control software sends the standby mode to the control software and sends down remote sensing data.

[0044] In the above technical solution, steps two, three, six, and twelve have a pattern re-transmission mechanism.

[0045] In the above technical solution, steps five, eight, eleven, fourteen, sixteen, eighteen, twenty-one, and twenty-three have an automatic switching mechanism for execution timeout mode.

[0046] In the above technical solution, in step twelve, the trajectory of the two-dimensional rotation mechanism search mode is designed in a variety of ways.

[0047] A spaceborne software, running on a solar remote sensing instrument, is used to perform the aforementioned two-dimensional rotation mechanism mode conversion.

[0048] In the above technical solution, the onboard software tracks the sun and sends the collected remote sensing data down based on the on-orbit test mission and the sun's angle.

[0049] The present invention has the following beneficial effects:

[0050] This invention discloses a highly reliable on-orbit two-dimensional rotation mechanism control method and onboard software. Based on the on-orbit detection mission and solar angle, the method controls the two-dimensional rotation mechanism to acquire and track the sun. First, standby mode, reload mode, and fault handling exit mode are sent to the control software to complete preparations for solar acquisition. Then, a programmed tracking (pre-pointing) mode is sent to the control software until the solar angle is within the rotation range of the two-dimensional rotation mechanism. Finally, programmed tracking (sun acquisition) mode, search mode, and solar sensor tracking mode are sent to the control software to achieve solar tracking. During the control of the two-dimensional rotation mechanism, an anomaly handling mechanism is included, such as a communication command retransmission mechanism, which solves the problem of the control software being unable to receive control commands from the onboard software under unpredictable occasional communication failures. A flexible mode switching method is provided to ensure normal solar tracking even in the event of a solar sensor failure, allowing switching to programmed tracking mode at any time. A search mode is also included to ensure that the remote sensing instrument can achieve successful solar acquisition to the greatest extent possible, even under conditions where there are new offsets in the mechanical structure of the two-dimensional rotation mechanism during satellite launch or when ground experiments cannot completely match the on-orbit conditions. These measures ensure the successful completion of the detection mission by the remote sensing instrument. The timed waiting mechanism of the mode ensures that the control process of the two-dimensional rotating structure can still be executed normally under the condition of chaotic state returned by the control software, and ensures that the on-board software will not enter an infinite loop, thus ensuring the completion of the entire on-orbit mission.

[0051] The present invention provides a highly reliable on-orbit two-dimensional rotation mechanism control method and onboard software that ensures the successful completion of the remote sensing instrument's detection mission or the entire on-orbit mission under limited on-orbit fault conditions. The communication command retransmission mechanism addresses the problem of the control software failing to receive onboard software control commands due to unpredictable, occasional communication failures. The flexible mode switching method allows the solar-sensitive instrument to switch to programmable tracking mode at any time to ensure normal solar tracking even in the event of a fault. The search mode setting ensures that the remote sensing instrument can achieve the greatest possible success in solar acquisition even when there are new offsets between the mechanical structures of the two-dimensional rotation mechanism during satellite launch or when ground experiments cannot completely match the on-orbit conditions. These measures guarantee the successful completion of the remote sensing instrument's detection mission. The timed waiting mechanism ensures that the two-dimensional rotation structure control process can still execute normally even when the control software returns a chaotic state, preventing the onboard software from entering an infinite loop and thus ensuring the completion of the entire on-orbit mission. Attached Figure Description

[0052] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0053] Figure 1 This is a schematic diagram of the mechanical structure of a two-dimensional rotating mechanism;

[0054] Figure 2 This is a control block diagram of a two-dimensional rotating mechanism;

[0055] Figure 3 This is a flowchart illustrating the steps of the on-orbit highly reliable two-dimensional rotating mechanism control method of the present invention. Detailed Implementation

[0056] The technical solution of the present invention will now be described in detail with reference to the accompanying drawings and preferred embodiments.

[0057] This embodiment provides a highly reliable on-orbit control method for a two-dimensional rotating mechanism, such as... Figure 3 As shown, it includes the following steps:

[0058] Step 1: The main control software (also known as the onboard software) receives the satellite attitude and solar vector sent by the satellite in real time, calculates the solar angle and sends it to the two-dimensional rotating mechanism control software (hereinafter referred to as the control software) in real time. The main control software tracks the sun according to the on-orbit test mission and the solar angle.

[0059] Step 2: The main control software sends the standby mode to the control software. If the control software returns the working mode as standby mode, then proceed to step 3. Otherwise, the main control software sends the standby mode to the control software again before proceeding to step 3.

[0060] Step 3: The main control software sends the reload mode to the control software. If the control software returns the working mode as reload mode, then proceed to step 4. Otherwise, the main control software sends the reload mode to the control software again before proceeding to step 4.

[0061] Step 4: The main control software starts a timer for L seconds, where the value of L is determined by the loading time of the control software.

[0062] Step 5: The main control software sends the return parameter mode to the control software. This mode does not interfere with the operation of the control software, and the main control software determines in real time whether time L has expired. If time L has expired, it executes step 6; otherwise, it executes step 5 repeatedly.

[0063] Step Six: The main control software sends the exit fault handling mode to the control software. If the control software returns the working mode as exit fault handling mode, then proceed to Step Seven. Otherwise, the main control software sends the exit fault handling mode to the control software again before proceeding to Step Seven.

[0064] Step 7: The main control software starts timing for R seconds, where the value of R is determined by the warm-up time before the electronic detection.

[0065] Step 8: The main control software sends the programmable tracking mode to the control software and checks in real time whether time R has elapsed. If time R has not elapsed, it checks whether the solar angle is within the rotation angle range of the two-dimensional rotating mechanism. If it is not within the range, it repeats Step 8; otherwise, it executes Step 9. When time R has elapsed, it executes Step 9.

[0066] Step Nine: If the solar sensor is malfunctioning or powered off, proceed to Step Eighteen; otherwise, proceed to Step Ten.

[0067] Step 10: The main control software starts timing for M seconds. The value of M is determined by the field of view of the solar remote sensing instrument and the rotation speed of the two-dimensional rotating mechanism.

[0068] Step 11: The main control software sends the programmable tracking mode to the control software and checks in real time whether the M-second time has elapsed. If the M-second time has not elapsed, it checks whether the programmable tracking mode is successful. If successful, it executes Step 12; otherwise, it repeats Step 11. When the M-second time has elapsed, it executes Step 12.

[0069] Step 12: The main control software sends the search mode to the control software. If the control software returns the working mode as search mode, then proceed to step 13. Otherwise, the main control software sends the search mode to the control software again and then proceeds to step 13.

[0070] Step 13: The main control software starts timing for N seconds, where the value of N is determined by the search trajectory and the rotation speed of the two-dimensional rotating mechanism;

[0071] Step Fourteen: The main control software sends the return parameter mode to the control software and checks in real time whether N seconds have elapsed. If N seconds have not elapsed, it checks whether the search mode was successful. If successful, it executes Step Fifteen; otherwise, it repeats Step Fourteen. When N seconds have elapsed, it executes Step Nineteen.

[0072] Step 15: The main control software starts timing for P seconds. The value of P is determined by the field of view of the solar remote sensing instrument and the rotation speed of the two-dimensional rotating mechanism.

[0073] Step Sixteen: The main control software sends the guide mirror tracking mode to the control software and checks in real time whether the P-second timeout has elapsed. If the P-second timeout has not elapsed, it checks whether the guide mirror tracking mode is successful. If successful, it executes Step Seventeen; otherwise, it repeats Step Sixteen. When the P-second timeout has elapsed, it executes Step Nineteen.

[0074] Step 17: The main control software starts timing for Q seconds, the value of which is determined by the system's longest detection time, and controls the system to start detection;

[0075] Step 18: The main control software sends the guide mirror tracking mode to the control software and determines in real time whether the Q-second timeout has elapsed or the detection has ended. If the Q-second timeout has not elapsed and the detection has not ended, it determines whether the guide mirror tracking mode is successful. If successful, it repeats Step 18; otherwise, it executes Step 20. If the Q-second timeout has elapsed or the detection has ended, it executes Step 22.

[0076] Step 19: The main control software controls the system to begin detection;

[0077] Step 20: The main control software starts timing for R' seconds, where the value of R' is determined by the system's longest detection time;

[0078] Step 21: The main control software sends the programmable tracking mode to the control software and determines in real time whether the R' seconds have elapsed or the detection has ended. If the R' seconds have not elapsed and the detection has not ended, then step 21 is executed repeatedly. If the R' seconds have elapsed or the detection has ended, then step 22 is executed.

[0079] Step 22: The main control software starts timing for S seconds. The value of S is determined by the field of view of the solar remote sensing instrument and the rotation speed of the two-dimensional rotating mechanism.

[0080] Step 23: The main control software sends the zero-return mode to the control software and determines in real time whether the S-second time has elapsed or the zero-return is complete. If the S-second time has not elapsed and the zero-return mode has not been completed, then step 23 is executed repeatedly. If the S-second time has elapsed or the zero-return mode is completed, then step 24 is executed.

[0081] Step 24: The main control software sends the standby mode to the control software and sends down remote sensing data.

[0082] In the on-orbit highly reliable two-dimensional rotating mechanism control method of the present invention, steps two, three, six, and twelve have a mode re-generation mechanism; steps five, eight, eleven, fourteen, sixteen, eighteen, twenty-one, and twenty-three have an automatic mode switching mechanism for mode execution timeout; in step twelve, the trajectory of the two-dimensional rotating mechanism search mode is designed in a diversified manner.

[0083] This embodiment provides a highly reliable on-orbit control method for a two-dimensional rotating mechanism, which ensures the successful completion of a remote sensing instrument's detection mission or the entire on-orbit mission under limited on-orbit fault conditions. Limited faults include: unpredictable occasional communication failures (e.g., single frame failure); potential malfunctions of the solar sensor; new offsets in the mechanical structure of the two-dimensional rotating mechanism during satellite launch; and the inability of ground experiments to perfectly match on-orbit conditions. Corresponding solutions include: a communication command retransmission mechanism; flexible mode switching methods; and setting a search mode to search for the sun according to a predetermined trajectory. These measures ensure the successful completion of the remote sensing instrument's detection mission. The timed waiting mechanism ensures that the two-dimensional rotating structure control process can still execute normally even when the control software returns a chaotic state, preventing the onboard software from entering an infinite loop and thus ensuring the completion of the entire on-orbit mission.

[0084] The method described in this embodiment mainly includes:

[0085] 1. Capture and track the sun based on the on-orbit test mission and the sun's angle.

[0086] 2. A command retransmission mechanism is provided to ensure communication reliability in the event of an occasional single-frame communication failure.

[0087] 3. In case of malfunction of the solar sensor, the mode can be switched to the programmable tracking mode at any time to ensure normal solar tracking, thus improving the reliability of solar tracking;

[0088] 4. In situations where new offsets exist between the mechanical structures of the two-dimensional rotation mechanism during satellite launch and ground experiments cannot be completely consistent with the on-orbit conditions, a search mode is set up to improve the reliability of solar capture.

[0089] 5. The timed waiting mechanism of the mode ensures that the control process of the two-dimensional rotating structure can still be executed normally even when the control software returns a chaotic state, preventing the onboard software from entering an infinite loop and improving its reliability. These methods ensure the successful completion of the entire on-orbit mission.

[0090] Another embodiment of the present invention also proposes a spaceborne software that can run on a solar remote sensing instrument. This spaceborne software is used to execute the above-described on-orbit two-dimensional rotation mechanism control process. The specific implementation process of the on-orbit two-dimensional rotation mechanism control process can be found in the foregoing embodiments, and will not be repeated here.

[0091] This invention discloses a highly reliable on-orbit two-dimensional rotation mechanism control method and onboard software. Based on the on-orbit detection mission and solar angle, the method controls the two-dimensional rotation mechanism to acquire and track the sun. First, standby mode, reload mode, and fault handling exit mode are sent to the control software to complete preparations for solar acquisition. Then, a programmed tracking (pre-pointing) mode is sent to the control software until the solar angle is within the rotation range of the two-dimensional rotation mechanism. Finally, programmed tracking (sun acquisition) mode, search mode, and solar sensor tracking mode are sent to the control software to achieve solar tracking. During the control of the two-dimensional rotation mechanism, an anomaly handling mechanism is included, such as a communication command retransmission mechanism, which solves the problem of the control software being unable to receive control commands from the onboard software under unpredictable occasional communication failures. A flexible mode switching method is provided to ensure normal solar tracking even in the event of a solar sensor failure, allowing switching to programmed tracking mode at any time. A search mode is also included to ensure that the remote sensing instrument can achieve successful solar acquisition to the greatest extent possible, even under conditions where there are new offsets in the mechanical structure of the two-dimensional rotation mechanism during satellite launch or when ground experiments cannot completely match the on-orbit conditions. These measures ensure the successful completion of the detection mission by the remote sensing instrument. The timed waiting mechanism of the mode ensures that the control process of the two-dimensional rotating structure can still be executed normally under the condition of chaotic state returned by the control software, and ensures that the on-board software will not enter an infinite loop, thus ensuring the completion of the entire on-orbit mission.

[0092] The present invention provides a highly reliable on-orbit two-dimensional rotation mechanism control method and onboard software that ensures the successful completion of the remote sensing instrument's detection mission or the entire on-orbit mission under limited on-orbit fault conditions. The communication command retransmission mechanism addresses the problem of the control software failing to receive onboard software control commands due to unpredictable, occasional communication failures. The flexible mode switching method allows the solar-sensitive instrument to switch to programmable tracking mode at any time to ensure normal solar tracking even in the event of a fault. The search mode setting ensures that the remote sensing instrument can achieve the greatest possible success in solar acquisition even when there are new offsets between the mechanical structures of the two-dimensional rotation mechanism during satellite launch or when ground experiments cannot completely match the on-orbit conditions. These measures guarantee the successful completion of the remote sensing instrument's detection mission. The timed waiting mechanism ensures that the two-dimensional rotation structure control process can still execute normally even when the control software returns a chaotic state, preventing the onboard software from entering an infinite loop and thus ensuring the completion of the entire on-orbit mission.

[0093] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A method for controlling a high-reliability two-dimensional rotation mechanism in orbit, characterized by, The method comprises the following steps: Step one: the main control software receives the satellite attitude and the sun vector sent by the satellite in real time, calculates the sun angle and sends it to the control software of the two-dimensional rotating mechanism in real time, and the main control software performs sun tracking according to the on-orbit test task and the sun angle; Step two: the main control software sends the standby mode to the control software, when the working mode returned by the control software is the standby mode, step three is executed, otherwise the main control software sends the standby mode to the control software again, and then step three is executed; Step three: the main control software sends the re-loading mode to the control software, when the working mode returned by the control software is the re-loading mode, step four is executed, otherwise the main control software sends the re-loading mode to the control software again, and then step four is executed; Step four: the main control software starts L-second timing, and the value of L is determined by the loading time of the control software; Step five: the main control software sends the return parameter mode to the control software, the mode does not interfere with the work of the control software, and the main control software judges whether the L time is up in real time, if the L time is up, step six is executed, otherwise step five is executed circularly; Step six: the main control software sends the exit fault processing mode to the control software, when the working mode returned by the control software is the exit fault processing mode, step seven is executed, otherwise the main control software sends the exit fault processing mode to the control software again, and then step seven is executed; Step seven: the main control software starts R-second timing, and the value of R is determined by the preheating time before electronic detection; Step eight: the main control software sends the program-controlled tracking mode to the control software, and judges whether the R time is up in real time; when the R time is not up, it is judged whether the sun angle is within the rotating angle range of the two-dimensional rotating mechanism, if not, step eight is executed circularly, otherwise step nine is executed; when the R time is up, step nine is executed; Step nine: if the sun sensitive instrument is faulty or in a power-off state, step eighteen is executed, otherwise step ten is executed; Step ten: the main control software starts M-second timing, and the value of M is determined by the field of view of the sun remote sensing instrument and the rotating speed of the two-dimensional rotating mechanism; Step eleven: the main control software sends the program-controlled tracking mode to the control software, and judges whether the M-second time is up in real time; when the M time is not up, it is judged whether the program-controlled tracking mode is successful, if yes, step twelve is executed, otherwise step eleven is executed circularly; when the M time is up, step twelve is executed; Step twelve: the main control software sends the search mode to the control software, when the working mode returned by the control software is the search mode, step thirteen is executed, otherwise the main control software sends the search mode to the control software again, and then step thirteen is executed; Step thirteen: the main control software starts N-second timing, and the value of N is determined by the search track and the rotating speed of the two-dimensional rotating mechanism; Step fourteen: the main control software sends the return parameter mode to the control software, and judges whether the N-second time is up in real time; when the N time is not up, it is judged whether the search mode is successful, if yes, step fifteen is executed, otherwise step fourteen is executed circularly; when the N time is up, step nineteen is executed; Step fifteen: the main control software starts P-second timing, and the value of P is determined by the field of view of the sun remote sensing instrument and the rotating speed of the two-dimensional rotating mechanism; Step sixteen: the main control software sends the guiding mirror tracking mode to the control software and judges whether the P-second time is up in real time; when the P-second time is not up, it judges whether the guiding mirror tracking mode is successful, if yes, it executes step seventeen, otherwise it executes step sixteen repeatedly; When the P time is up, it executes step nineteen; Step seventeen: the main control software starts the Q-second counting, the value of Q is determined by the longest detection time of the system, and controls the system to start detection; Step eighteen: the main control software sends the guiding mirror tracking mode to the control software and judges whether the Q-second time is up or the detection is finished in real time; when the Q-second time is not up and the detection is not finished, it judges whether the guiding mirror tracking mode is successful, if yes, it executes step eighteen repeatedly, otherwise it executes step twenty; if the Q-second time is up or the detection is finished, it executes step twenty-two; Step nineteen: the main control software controls the system to start detection; Step twenty: the main control software starts the R´-second counting, the value of R´ is determined by the longest detection time of the system; Step twenty-one: the main control software sends the program-controlled tracking mode to the control software and judges whether the R´-second time is up or the detection is finished in real time; when the R´-second time is not up and the detection is not finished, it executes step twenty-one repeatedly, when the R´-second time is up or the detection is finished, it executes step twenty-two; Step twenty-two: the main control software starts the S-second counting, the value of S is determined by the field of view of the solar remote sensing instrument and the rotation speed of the two-dimensional rotating mechanism; Step twenty-three: the main control software sends the return-to-zero mode to the control software and judges whether the S-second time is up or the return-to-zero is finished in real time; when the S-second time is not up and the return-to-zero mode is not finished, it executes step twenty-three repeatedly, when the S-second time is up or the return-to-zero mode is finished, it executes step twenty-four; Step twenty-four: the main control software sends the standby mode to the control software and downloads the remote sensing data.

2. The on-orbit high-reliability two-dimensional rotation mechanism control method according to claim 1, characterized in that, In step twelve, the trajectory of the two-dimensional rotating mechanism search mode is diversified designed.

3. A space-borne software, characterized by The two-dimensional rotating mechanism mode conversion is run on the solar remote sensing instrument and is used for executing the two-dimensional rotating mechanism mode conversion as claimed in claim 1 or 2.

4. The space-borne software of claim 3, wherein, The satellite-borne software tracks the sun according to the on-orbit test task and the solar angle and downloads the collected remote sensing data.

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