Double-shaft solar wing control method and device giving consideration to flexibility suppression

Abstract

The invention discloses a double-shaft solar wing control method and device giving consideration to flexibility suppression, and belongs to the technical field of spacecraft control. The method comprises the following steps: respectively calculating nominal angles of an A axis and a B axis according to a unit vector of the sun in a satellite orbit system; wherein the nominal angle of the B axis is determined according to a flexible vibration suppression interval after discretization processing; the flexible vibration suppression interval is an angle avoiding interval set for avoiding the resonant frequency; calculating control errors of the A axis and the B axis according to the nominal angles and the rotation angle measurement values of the A axis and the B axis; and according to the satellite imaging state and the state of the double-axis solar wing, the rotation of the A axis and the rotation of the B axis are controlled by using the control error so as to eliminate the sun alignment error of the double-axis solar wing. According to the invention, the resonance interval between the driving frequency and the axial vibration frequency can be avoided, and the resonance risk is reduced.

Description

Technical Field

[0001] The present invention relates to the field of spacecraft control technology, and in particular to a dual-axis solar wing control method and device taking flexibility suppression into consideration. Background Art

[0002] Satellites use dual-axis solar panels to aim at the Sun, which can capture more solar energy. However, compared to single-axis panels, the control principles for dual-axis panels are more complex. The A-axis of a dual-axis panel coincides with the rotational axis of a single-axis panel, while the B-axis is the swing axis perpendicular to the A-axis. During in-orbit changes in the B-axis, there is a risk of resonance between the drive frequency and the axial vibration frequency due to load fluctuations.

[0003] Therefore, there is an urgent need to provide a dual-axis solar wing control method that takes flexibility suppression into consideration. Summary of the Invention

[0004] The present invention provides a dual-axis solar wing control method and device that takes flexibility suppression into consideration. The technical solution is as follows:

[0005] In one aspect, a dual-axis solar wing control method that takes flexibility suppression into consideration is provided, wherein the dual-axis solar wing includes an A-axis and a B-axis; the method comprises:

[0006] The nominal angles of the A-axis and the B-axis are calculated based on the unit vector of the sun in the satellite orbital system. The nominal angle of the B-axis is determined based on the flexible vibration suppression interval after discretization. The flexible vibration suppression interval is an angle avoidance interval set to avoid resonant frequencies.

[0007] Calculate the control errors of the A-axis and B-axis based on their nominal angles and rotation angle measurements;

[0008] According to the satellite imaging status and the status of the dual-axis solar array, the control error is used to control the rotation of the A-axis and B-axis to eliminate the solar error of the dual-axis solar array.

[0009] In another aspect, a dual-axis solar wing control device that takes flexibility suppression into consideration is provided, wherein the dual-axis solar wing includes an A-axis and a B-axis; the device includes:

[0010] A first calculation unit is configured to calculate the nominal angles of the A-axis and the B-axis based on the unit vector of the sun in the satellite orbit system. The nominal angle of the B-axis is determined based on a flexible vibration suppression interval after discretization processing. The flexible vibration suppression interval is an angle avoidance interval set to avoid resonant frequency.

[0011] a second calculation unit, configured to calculate the control errors of the A-axis and the B-axis according to the nominal angles and the rotation angle measurements of the A-axis and the B-axis;

[0012] The control unit is used to control the rotation of the A-axis and the B-axis according to the satellite imaging status and the status of the dual-axis solar wing, using the control error to eliminate the solar error of the dual-axis solar wing.

[0013] On the other hand, a computer device is provided, which includes a memory and a processor, the memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory to implement the steps of the above-mentioned dual-axis solar wing control method taking into account flexible suppression.

[0014] On the other hand, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned dual-axis solar wing control method taking flexibility suppression into consideration are implemented.

[0015] The technical solution provided by the present invention can at least bring the following beneficial effects:

[0016] For dual-axis solar panel satellites, based on the single-axis solar panel control logic, the discretization processing and pre-bias function of the B-axis rotation angle are added. This can avoid frequent switching of the B-axis angle, which may cause fluctuations in the attitude of the entire satellite, and can avoid the resonance range between the driving frequency and the axial vibration frequency, thereby reducing the risk of resonance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a flow chart of a dual-axis solar wing control method that takes flexibility suppression into consideration, provided by one embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the rotation directions of the A-axis and B-axis of a dual-axis solar wing drive mechanism provided by one embodiment of the present invention;

[0020] Figure 3 This is an example diagram of the measured rotation angles and nominal angles of the A-axis and B-axis of a dual-axis solar wing provided by one embodiment of the present invention;

[0021] Figure 4 This is an example diagram of the rotation control mode and direction of the A-axis and B-axis rotation angles of a dual-axis solar wing provided by one embodiment of the present invention;

[0022] Figure 5Schematic diagram of the angle between the normal line of a dual-axis solar wing and the sun vector provided by one embodiment of the present invention;

[0023] Figure 6 This is a structural diagram of a dual-axis solar wing control device that takes flexibility suppression into consideration, provided by one embodiment of the present invention;

[0024] Figure 7 This is a hardware architecture diagram of a computer device provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0026] Please refer to Figure 1 An embodiment of the present invention provides a dual-axis solar wing control method that takes flexibility suppression into consideration, wherein the dual-axis solar wing includes an A-axis and a B-axis; the method includes:

[0027] Step 100, calculating the nominal angles of the A-axis and the B-axis based on the unit vector of the sun in the satellite orbital system; wherein the nominal angle of the B-axis is determined based on a flexible vibration suppression interval after discretization; the flexible vibration suppression interval is an angle avoidance interval set to avoid resonant frequency;

[0028] Step 102 , calculating the control errors of the A-axis and the B-axis based on the nominal angles and the rotation angle measurements of the A-axis and the B-axis;

[0029] Step 104 , based on the satellite imaging status and the status of the dual-axis solar array, the rotation of the A-axis and the B-axis is controlled using the control error to eliminate the solar error of the dual-axis solar array.

[0030] In an embodiment of the present invention, for a dual-axis solar wing satellite, on the basis of the single-axis solar wing control logic, the discretization processing and pre-bias function of the B-axis rotation angle are added, which can avoid frequent switching of the B-axis angle and cause fluctuations in the attitude of the entire satellite, and can avoid the resonance range of the driving frequency and the axial vibration frequency, thereby reducing the risk of resonance.

[0031] Described below Figure 1 How to perform the steps shown.

[0032] First, for step 100 , the nominal angles of the A axis and the B axis are calculated respectively according to the unit vector of the sun in the satellite orbit system.

[0033] In the embodiment of the present invention, for the dual-axis solar wing, the A axis is consistent with the rotation axis of the single-axis solar wing, and the B axis is the swing axis perpendicular to the A axis. Figure 2 , which is a schematic diagram of the rotation direction of the A-axis and B-axis of the dual-axis solar wing drive mechanism when the solar panel is at zero position. Figure 2 The rotation direction of the A axis is along the -Y direction of the star. B Axis direction. When the A axis rotates, it drives the B axis to rotate as a whole. When the A axis is at zero position, the rotation direction of the B axis is the same as the +X axis of the star. B During in-orbit operation, the A-axis load and drive characteristics change due to the B-axis angle offset and A-axis rotation of the dual-axis solar wing drive mechanism.

[0034] In the embodiment of the present invention, the nominal angle α of the A axis is calculated by the following formula: B (unit: rad):

[0035] α B =arctan2(-S Ox ,-S Oz )

[0036] Among them, S Ox 、S Oy and S Oz is the unit vector S of the sun in the satellite orbit system O Components along the X, Y, and Z axes.

[0037] When calculating the nominal angle of the B-axis, the drive frequency and the axial vibration frequency may resonate due to load changes during the B-axis's on-track change process. Therefore, in order to eliminate the flexible vibration suppression interval that needs to be avoided, the rotation angle of the B-axis can be discretized. Specifically, the nominal angle of the B-axis is calculated as follows:

[0038] First, the discretized angle of the B axis is calculated based on the discretized equivalent and the unit vector of the sun in the satellite orbit system.

[0039] The discretized angle of the B axis is calculated using the following formula:

[0040]

[0041] Among them, β B1 is the discretized angle of the B axis, in rad; m StepB is the discretization equivalent; int() is the rounding function. In one implementation, the discretization equivalent can be 1° or 2°.

[0042] Then, determine the discretization angle β of the B axis B1 With the first angle β P1and the second angle β P2 The size relationship of the first angle β P1 and the second angle β P2 are the two end point angles of the flexible vibration suppression interval; and the first angle β P1 Less than the second angle β P2 ;

[0043] If the discretization angle β of the B axis B1 Not less than 0 and not greater than the first angle β P1 , or, the discretization angle of the B axis is not less than the second angle β P2 , then the discretized angle of the B-axis is determined as the nominal angle of the B-axis;

[0044] If the discretization angle β of the B axis B1 Greater than the first angle β P1 and is smaller than the second angle β P2 , then the first angle β P1 Determined as the nominal angle of the B-axis.

[0045] This size relationship and the nominal angle β B The value of can be expressed by the following formula:

[0046]

[0047] In this embodiment of the present invention, the nominal angles of the A and B axes are calculated based on the unit vector of the Sun in the satellite's orbital system and require real-time calculation for updates. Furthermore, the nominal angle of the B axis is discretized to avoid frequent switching of the B axis angle, which can cause fluctuations in the satellite's attitude. The nominal angle is determined by analyzing the relationship between the discretized angle and the angle avoidance interval, pre-biasing the B axis angle to avoid the resonant range between the drive frequency and the axial vibration frequency.

[0048] Then, step 102 "calculating the control errors of axis A and axis B based on their nominal angles and rotation angle measurements" and step 104 "controlling the angular velocity and rotation direction of the dual-axis solar wing using the control error based on the satellite imaging status and the status of the dual-axis solar wing to eliminate the solar error of the dual-axis solar wing" are explained at the same time.

[0049] In the embodiment of the present invention, the control errors of the A-axis and the B-axis are calculated according to the difference between the nominal angle and the rotation angle measurement value.

[0050] Specifically, the control error E of the A-axis A (unit rad) is calculated by the following formula:

[0051] E A =MainValue(αB -α M )

[0052] Among them, the function MainValue() represents the modulo operation of the variable, so that the function value range is -π~π; α M is the rotation angle measurement value of the A-axis.

[0053] Control error E of B axis B (unit rad) is calculated by the following formula:

[0054] E B =MainValue(β B -β M )

[0055] Among them, β M is the rotation angle measurement value of the B axis.

[0056] Please refer to Figure 3 , which is an example diagram of the measured values ​​and nominal angles of the A-axis and B-axis rotation angles of the dual-axis solar wing.

[0057] In an embodiment of the present invention, after calculating the control error of axis A and the control error of axis B, a hysteresis feedback method is specifically used to perform cruise control on axis A and discrete incremental control on axis B to achieve two-dimensional normal alignment of the solar wing with the sun.

[0058] In this embodiment of the present invention, the control logic for the A-axis and the B-axis needs to be determined based on the satellite's imaging state. The satellite's imaging state can be determined based on a satellite imaging flag, FlgImg. When the satellite imaging flag, FlgImg, is equal to 0, the satellite's imaging state is not in the imaging state; when the satellite imaging flag, FlgImg, is equal to 1, the satellite's imaging state is in the imaging state.

[0059] If the satellite is not in imaging state, the control logic for the A axis is:

[0060] When the A-axis is in the forward cruising state, if the control error E of the A-axis A Greater than the threshold m A3 , then the A axis switches to positive incremental control, continuous control int(|E A | / (m AI ×T)) control cycles, it switches to forward cruise control; if the control error of axis A is E A Less than threshold-m A1 , then the A axis turns to negative direction to maintain control;

[0061] When the A axis is in the negative cruise state, if the control error E of the A axis A Less than threshold-m A3, then the A axis switches to negative incremental control, and continuously controls int(|E A | / (m AI ×T)) control cycles, it switches to negative cruise control; if the control error of axis A is E A Greater than the threshold m A1 , then the A-axis switches to positive hold control;

[0062] When the A axis is in the positive or negative hold state, if the control error E of the A axis A Greater than the threshold m A2 , then the A axis switches to forward cruise control. If the control error of the A axis E A Less than threshold-m A2 , then the A axis switches to negative cruise control;

[0063] Among them, m AI is the angular velocity of the A-axis under incremental control, in rad / s; T is the control period, in s; m A1 、m A2 、m A3 is the judgment threshold of the A-axis control logic, and 0<m A1 <m A2 <m A3 ;

[0064] If the satellite is in the imaging state, the control logic for the A-axis is: when the rotation mode of the A-axis is in the non-cruise state, the A-axis rotation mode is controlled to change to the forward cruise state;

[0065] If the satellite is not in the imaging state, the control logic for the B axis is:

[0066] When the B axis is in the positive hold state, if the control error E of the B axis B Greater than the threshold m B2 , then the B axis switches to positive incremental control, and continuously controls int(|E B | / (m BI ×T)) control cycles, it switches to forward hold control; if the control error of axis B is E B Less than threshold-m B1 , then the B axis turns to negative direction to maintain control;

[0067] When the B axis is in the negative holding state, if the control error E of the B axis B Less than threshold-m B2 , then the B axis switches to negative incremental control, and continuously controls int(|E B | / (m BI ×T)) control cycles, it switches to negative hold control; if the control error of axis B is E B Greater than the threshold m B1 , then the B axis switches to positive hold control;

[0068] Among them, m BI The angular velocity of the B axis under incremental control, in rad / s; m B1 、m B2 is the judgment threshold of the B-axis control logic, and 0<m B1 <m B2 .

[0069] If the satellite is in the imaging state, the control logic for the A-axis is: when the B-axis is not in positive incremental control or negative incremental control, the control logic for the B-axis is performed according to the control logic when the satellite is not in the imaging state.

[0070] Please refer to Figure 4 and Figure 5 ,in Figure 4 The rotation control mode and direction of the A-axis and B-axis angles of the dual-axis solar wing, Figure 5 is the angle between the normal of the dual-axis solar wing and the sun vector. Calculation results show that the relevant control logic can achieve a two-dimensional solar wing normal alignment by using cruise control on the A-axis and discrete incremental control on the B-axis of the dual-axis solar wing.

[0071] Please refer to Figure 6 An embodiment of the present invention provides a dual-axis solar wing control device that takes flexibility suppression into consideration, the device comprising:

[0072] A first calculation unit 600 is configured to calculate the nominal angles of the A-axis and the B-axis based on the unit vector of the sun in the satellite orbital system. The nominal angle of the B-axis is determined based on a flexible vibration suppression interval after discretization. The flexible vibration suppression interval is an angle avoidance interval set to avoid resonant frequencies.

[0073] A second calculation unit 602 is used to calculate the control errors of the A-axis and the B-axis according to the nominal angles and the rotation angle measurements of the A-axis and the B-axis;

[0074] The control unit 604 is used to control the rotation of the A-axis and the B-axis according to the satellite imaging status and the status of the dual-axis solar array using the control error to eliminate the solar error of the dual-axis solar array.

[0075] In one embodiment of the present invention, the nominal angle of the B axis is calculated as follows:

[0076] Calculate the discretized angle of the B axis based on the discretized equivalent and the unit vector of the sun in the satellite orbit system;

[0077] Determine the relationship between the discretized angle of the B-axis and the first angle and the second angle; the first angle and the second angle are two end angles of the flexible vibration suppression range; and the first angle is smaller than the second angle;

[0078] If the discretization angle of the B-axis is not less than 0 and not greater than the first angle, or the discretization angle of the B-axis is not less than the second angle, the discretization angle of the B-axis is determined as the nominal angle of the B-axis;

[0079] If the discretized angle of the B-axis is greater than the first angle and smaller than the second angle, the first angle is determined as the nominal angle of the B-axis.

[0080] In one embodiment of the present invention, the discretized angle of the B-axis is calculated using the following formula:

[0081]

[0082] Among them, β B1 is the discretized angle of the B axis, in rad; m StepB is the discretization equivalent; S Ox 、S Oy and S Oz is the unit vector S of the sun in the satellite orbit system O Components along the X, Y, and Z axes; int() is the rounding function.

[0083] In one embodiment of the present invention, if the satellite is not in the imaging state, the control logic for the A axis is:

[0084] When the A-axis is in the forward cruising state, if the control error E of the A-axis A Greater than the threshold m A3 , then the A axis switches to positive incremental control, continuous control int(|E A | / (m AI ×T)) control cycles, it switches to forward cruise control; if the control error of axis A is E A Less than threshold-m A1 , then the A axis turns to negative direction to maintain control;

[0085] When the A axis is in the negative cruise state, if the control error E of the A axis A Less than threshold-m A3 , then the A axis switches to negative incremental control, and continuously controls int(|E A | / (m AI ×T)) control cycles, it switches to negative cruise control; if the control error of axis A is E A Greater than the threshold m A1 , then the A-axis switches to positive hold control;

[0086] When the A axis is in the positive or negative hold state, if the control error E of the A axis A Greater than the threshold m A2 , then the A axis switches to forward cruise control. If the control error of the A axis E ALess than threshold-m A2 , then the A axis switches to negative cruise control;

[0087] Among them, m AI is the angular velocity of the A-axis under incremental control, in rad / s; T is the control period, in s; m A1 、m A2 、m A3 is the judgment threshold of the A-axis control logic, and 0<m A1 <m A2 <m A3 .

[0088] In one embodiment of the present invention, if the satellite is in an imaging state, the control logic for the A-axis is: when the rotation mode of the A-axis is in a non-cruise state, the rotation mode of the A-axis is controlled to change to a forward cruise state.

[0089] In one embodiment of the present invention, if the satellite is not in the imaging state, the control logic for the B axis is:

[0090] When the B axis is in the positive hold state, if the control error E of the B axis B Greater than the threshold m B2 , then the B axis switches to positive incremental control, and continuously controls int(|E B | / (m BI ×T)) control cycles, it switches to forward hold control; if the control error of axis B is E B Less than threshold-m B1 , then the B axis turns to negative direction to maintain control;

[0091] When the B axis is in the negative holding state, if the control error E of the B axis B Less than threshold-m B2 , then the B axis switches to negative incremental control, and continuously controls int(|E B | / (m BI ×T)) control cycles, it switches to negative hold control; if the control error of axis B is E B Greater than the threshold m B1 , then the B axis switches to positive hold control;

[0092] Among them, m BI The angular velocity of the B axis under incremental control, in rad / s; m B1 、m B2 is the judgment threshold of the B-axis control logic, and 0<m B1 <m B2 .

[0093] In one embodiment of the present invention, if the satellite is in an imaging state and the B axis is not in positive incremental control or negative incremental control, the B axis is controlled according to the control logic when the satellite is not in the imaging state.

[0094] It should be noted that the dual-axis solar wing control device with flexible suppression provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the dual-axis solar wing control device with flexible suppression provided in the above embodiment and the dual-axis solar wing control method embodiment with flexible suppression are of the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0095] The embodiment of the present application also provides a computer device, please refer to Figure 7 The computer device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the dual-axis solar wing control method with flexible suppression provided by the above-mentioned method embodiments.

[0096] An embodiment of the present application also provides a computer-readable storage medium, on which is stored at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the dual-axis solar wing control method that takes flexible suppression into account provided by the above-mentioned method embodiments.

[0097] An embodiment of the present application also provides a computer program product, which includes a computer program. The processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes the dual-axis solar wing control method that takes into account flexible suppression as described in any of the above embodiments.

[0098] For the convenience of description, the above systems or devices are described as being divided into various modules or units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0099] Through the description of the above embodiments, it can be seen that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present application or certain parts of the embodiments.

[0100] Finally, it should be noted that, in this document, relational terms such as first, second, third, and fourth are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0101] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A dual-axis solar wing control method taking flexibility suppression into consideration, characterized in that: The dual-axis solar wing includes an A-axis and a B-axis; the method includes: The nominal angles of the A-axis and the B-axis are calculated based on the unit vector of the sun in the satellite orbital system. The nominal angle of the B-axis is determined based on the flexible vibration suppression interval after discretization. The flexible vibration suppression interval is an angle avoidance interval set to avoid resonant frequencies. Calculate the control errors of the A-axis and B-axis based on their nominal angles and rotation angle measurements; According to the satellite imaging status and the status of the dual-axis solar array, the control error is used to control the rotation of the A-axis and B-axis to eliminate the solar error of the dual-axis solar array.

2. The method according to claim 1, characterized in that The nominal angle of the B axis is calculated as follows: Calculate the discretized angle of the B axis based on the discretized equivalent and the unit vector of the sun in the satellite orbit system; Determine the relationship between the discretized angle of the B-axis and the first angle and the second angle; the first angle and the second angle are two end angles of the flexible vibration suppression range; and the first angle is smaller than the second angle; If the discretization angle of the B-axis is not less than 0 and not greater than the first angle, or the discretization angle of the B-axis is not less than the second angle, the discretization angle of the B-axis is determined as the nominal angle of the B-axis; If the discretized angle of the B-axis is greater than the first angle and smaller than the second angle, the first angle is determined as the nominal angle of the B-axis.

3. The method according to claim 2, characterized in that The discretized angle of the B axis is calculated using the following formula: Among them, β B1 is the discretized angle of the B axis, in rad; m StepB is the discretization equivalent; S Ox 、S Oy and S Oz is the unit vector S of the sun in the satellite orbit system O Components along the X, Y, and Z axes; int() is the rounding function.

4. The method according to claim 1, wherein If the satellite is not in imaging state, the control logic for the A axis is: When the A-axis is in the forward cruising state, if the control error E of the A-axis A Greater than the threshold m A3 , then the A axis switches to positive incremental control, continuous control int(|E A | / (m AI ×T)) control cycles, it switches to forward cruise control; if the control error of axis A is E A Less than threshold-m A1 , then the A axis turns to negative direction to maintain control; When the A axis is in the negative cruise state, if the control error E of the A axis A Less than threshold-m A3 , then the A axis switches to negative incremental control, and continuously controls int(|E A | / (m AI ×T)) control cycles, it switches to negative cruise control; if the control error of axis A is E A Greater than the threshold m A1 , then the A-axis switches to positive hold control; When the A axis is in the positive or negative hold state, if the control error E of the A axis A Greater than the threshold m A2 , then the A axis switches to forward cruise control. If the control error of the A axis E A Less than threshold-m A2 , then the A axis switches to negative cruise control; Among them, m AI is the angular velocity of the A-axis under incremental control, in rad / s; T is the control period, in s; m A1 、m A2 、m A3 is the judgment threshold of the A-axis control logic, and 0<m A1 <m A2 <m A3 .

5. The method according to claim 1, characterized in that If the satellite is in the imaging state, the control logic for the A-axis is: when the rotation mode of the A-axis is in the non-cruise state, the A-axis rotation mode is controlled to change to the forward cruise state.

6. The method according to claim 1, characterized in that If the satellite is not in the imaging state, the control logic for the B axis is: When the B axis is in the positive hold state, if the control error E of the B axis B Greater than the threshold m B2 , then the B axis switches to positive incremental control, and continuously controls int(|E B | / (m BI ×T)) control cycles, it switches to forward hold control; if the control error of axis B is E B Less than threshold-m B1 , then the B axis turns to negative direction to maintain control; When the B axis is in the negative holding state, if the control error E of the B axis B Less than threshold-m B2 , then the B axis switches to negative incremental control, and continuously controls int(|E B | / (m BI ×T)) control cycles, it switches to negative hold control; if the control error of axis B is E B Greater than the threshold m B1 , then the B axis switches to positive hold control; Among them, m BI The angular velocity of the B axis under incremental control, in rad / s; m B1 、m B2 is the judgment threshold of the B-axis control logic, and 0<m B1 <m B2 .

7. The method according to claim 6, characterized in that If the satellite is in the imaging state and the B-axis is not in the positive incremental control or the negative incremental control, the B-axis is controlled according to the control logic when the satellite is not in the imaging state.

8. A dual-axis solar wing control device that takes flexibility suppression into consideration, characterized in that: The dual-axis solar wing includes an A axis and a B axis; the device includes: A first calculation unit is configured to calculate the nominal angles of the A-axis and the B-axis based on the unit vector of the sun in the satellite orbit system. The nominal angle of the B-axis is determined based on a flexible vibration suppression interval after discretization processing. The flexible vibration suppression interval is an angle avoidance interval set to avoid resonant frequency. a second calculation unit, configured to calculate the control errors of the A-axis and the B-axis according to the nominal angles and the rotation angle measurements of the A-axis and the B-axis; The control unit is used to control the rotation of the A-axis and the B-axis according to the satellite imaging status and the status of the dual-axis solar wing, using the control error to eliminate the solar error of the dual-axis solar wing.

9. A computer device, characterized in that: The computer device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of any one of the methods described in claims 1-7.

10. A computer-readable storage medium, characterized in that The storage medium stores a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 7.

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