Rotation guidance method and system of two-dimensional solar sail panel driving mechanism

Abstract

The present invention provides a rotation guidance method and system for a two-dimensional solar sailboard driving mechanism, which calculates the required rotation angle of the two-dimensional solar sailboard driving mechanism based on the position vector of the sun in the satellite body coordinate system to achieve the two-dimensional solar sailboard pointing to the sun, and respectively determines the rotation guidance strategies of the rotation axis and the swing axis to remove the expected rotation angle fluctuation caused by the calculation error of the sun vector position. A corresponding terminal and medium are also provided. The rotation guidance method and system for the two-dimensional solar sailboard driving mechanism provided by the present invention, for the two-dimensional solar sailboard driving mechanism of the low-orbit earth-pointing satellite, can reduce the design difficulty of the two-dimensional solar sailboard driving mechanism control algorithm on the basis of achieving the solar sailboard pointing to the sun, and improve the stability of the driving mechanism rotation process.

Description

Technical Field

[0001] The present invention relates to the field of satellite control technology, and in particular to a rotation guidance method and system for a two-dimensional solar sailboard driving mechanism of a low-orbit earth-pointing satellite. Background Art

[0002] Satellites in orbit mainly obtain energy by keeping their onboard solar panels pointing toward the sun. There are usually two ways to achieve this: one is to keep the solar panels fixed relative to the star and adjust the satellite's attitude to meet the solar panel's pointing toward the sun; the other is to keep the satellite's attitude unchanged and use the solar panel drive mechanism to drive the solar panels to rotate to achieve its pointing toward the sun. For low-orbit three-axis stabilized satellites pointing toward the earth, the angle between the sun and the satellite's orbital plane often changes periodically between -90° and 90°. In order to ensure that the satellite is pointing toward the earth while the onboard solar panels can obtain energy more efficiently, a two-dimensional solar panel drive mechanism is required.

[0003] A common two-dimensional solar sail driving mechanism mainly consists of a rotating shaft that can rotate a full circle, a swinging shaft that can rotate within a limited angle range, and a connecting frame between the rotating shaft and the swinging shaft; wherein the rotating shaft is installed on the satellite body, with the axial direction along the Y-axis of the satellite body, the swinging shaft is connected to the rotating shaft through the connecting frame, with the axial direction along the X-axis of the satellite body, and the solar sail is connected to the swinging shaft. The specific structure is as follows Figure 1 shown.

[0004] The existing methods for guiding the rotation of the drive mechanism are commonly ground guidance, illumination area guidance and discontinuous guidance; among them: the ground guidance is that the ground measurement and control center calculates the rotation speed and issues instructions for control, which is not very timely and is not conducive to closed-loop control; the illumination area guidance only implements guidance in the illumination area and stops rotating after entering the ground shadow area, so that the drive mechanism needs to be started and stopped frequently; the discontinuous guidance starts to guide the rotation of the rotation axis to reduce the angle deviation only when the deviation angle of the rotation axis exceeds a certain angle, and the guidance accuracy is not high. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the present invention provides a rotation guidance method and system for a two-dimensional solar sailboard driving mechanism of a low-orbit earth-pointing satellite.

[0006] According to one aspect of the present invention, a rotation guidance method for a two-dimensional solar sail panel driving mechanism is provided, which calculates the required rotation angle of the two-dimensional solar sail panel driving mechanism based on the position vector of the sun in the satellite body coordinate system to achieve the two-dimensional solar sail panel pointing to the sun, and determines the rotation guidance strategies of the rotation axis and the swing axis respectively to remove the expected rotation angle fluctuation caused by the calculation error of the sun vector position; comprising:

[0007] Calculate the expected rotation angle α of the rotation axis and the expected rotation angle β of the swing axis of the two-dimensional solar sail driving mechanism when the solar sail is pointing toward the sun;

[0008] Determine a rotation guidance strategy for the desired rotation angle α of the rotation axis to obtain a target rotation angle of the rotation axis;

[0009] Determine the rotation guidance strategy of the desired rotation angle β of the swing shaft to obtain the desired angle gear of the swing shaft;

[0010] Performing fluctuation removal processing on the obtained desired angle of the swing shaft to obtain a target rotation angle of the swing shaft;

[0011] The two-dimensional solar sail panel driving mechanism is rotationally guided according to the obtained target rotation angle of the rotating axis and the target rotation angle of the swinging axis.

[0012] Optionally, the calculating of the expected rotation angle α of the rotation axis and the expected rotation angle β of the swing axis of the two-dimensional solar sail panel driving mechanism when the solar sail panel is pointed toward the sun comprises:

[0013] Establish a solar sailboard coordinate system, with the swing axis as the X axis of the solar sailboard coordinate system, the rotation axis as the Y axis of the solar sailboard coordinate system, and the solar sailboard coordinate system Z axis and X and Y axes forming a right-handed coordinate system;

[0014] When the rotation angles of the rotation axis and the swing axis are set to zero, the directions of the axes of the solar sail panel coordinate system are the same as those of the satellite body coordinate system. Then the attitude matrix R from the satellite body coordinate system to the solar sail panel coordinate system is:

[0015]

[0016] Among them, α is the desired rotation angle of the rotating axis, and β is the desired rotation angle of the swinging axis;

[0017] When the normal direction of the solar panel is parallel to the unit vector of the sun's position, the solar panel is guaranteed to be pointing towards the sun, that is, the unit vector of the sun's position in the satellite's coordinate system S b The normal unit vector L of the solar cell in the solar panel coordinate system satisfies the following formula:

[0018] L=RS b

[0019] Among them, the normal unit vector of the battery cell L=[L x L y L z ] T , the unit vector S of the sun position in the satellite coordinate system b =[S bx S by S bz ]T ;

[0020] Thus, the following system of equations is obtained:

[0021]

[0022] By solving the above equations, we can obtain the desired rotation angle α of the rotation axis and the desired rotation angle β of the swing axis required for the solar panel to point toward the sun.

[0023] Optionally, the normal unit vector L of the battery cell is L=[L x L y L z ] T The solar sail panel structure is designed and laid out; the satellite body coordinate system sun position unit vector S b =[S bx S by S bz ] T Measured by on-board sensors or obtained through attitude calculation.

[0024] Optionally, the determined rotation guidance strategy of the desired rotation angle α of the rotation axis to obtain a target rotation angle of the rotation axis includes:

[0025] When the sun is in the normal direction of the orbital plane pointing to the satellite, that is, the sun position unit vector S b With the vector [0 1 0] T When they are collinear, the strategy for determining the desired rotation angle α of the rotation axis for rotation guidance is:

[0026] When |β|≥β m When , set the corresponding desired rotation angle α c =α c_pre +ω 0 ·t

[0027] When |β|<β m When , set the corresponding desired rotation angle α c =α

[0028] Among them, β m is the threshold value that represents the degree to which the sun's position is close to the normal direction of the orbital plane, 0<β m <90°;α c_pre is the expected rotation angle of the rotation axis in the previous cycle, ω 0 is the satellite's average orbital angular velocity, t is the rotation axis control period;

[0029] The corresponding expected rotation angle α is obtained c This is the target rotation angle of the rotation axis.

[0030] Optionally, the determined rotation guidance strategy of the desired rotation angle β of the swing shaft to obtain the desired angle level of the swing shaft includes:

[0031] The expected rotation angle β of the swing shaft is guided in steps according to the set angle intervals, that is, when the expected rotation angle β of the swing shaft is within a certain expected angle range, the expected rotation angle β of the swing shaft is set to the set expected rotation angle level; when the expected rotation angle β of the swing shaft exceeds the maximum rotation angle of the swing shaft, the expected rotation angle β of the swing shaft is set to the maximum rotation angle allowed by the swing shaft, and the strategy for rotationally guiding the expected rotation angle β of the swing shaft is determined as follows:

[0032] When β i ≤|β|<β j When setting the corresponding desired angle β c =β k ·sign(β)

[0033] When |β|≥β max When setting the corresponding desired angle β c =β max ·sign(β)

[0034] Among them, β max is the maximum rotation angle allowed by the swing axis, β i , β j is the set threshold, β k is the set gear, satisfying β max ≥β j >β i ≥0, β k ∈[β i ,β j ], sign() is the sign function, calculated as follows:

[0035]

[0036] Optionally, performing fluctuation removal processing on the obtained desired angle of the swing shaft to obtain a target rotation angle of the swing shaft includes:

[0037] Set the status flag and the gear switching threshold, and remove the fluctuation of the desired angle gear of the swing axis as follows:

[0038] When β i ≤|β|<β j When flag=0, set the corresponding desired angle range β c =β k ·sign(β), set flag = 1;

[0039] When βi +β 0 ≤|β|<β j -β 0 When flag=1, set the corresponding desired angle range β c =β k ·sign(β), set flag = 1;

[0040] When β i -β 0 ≤|β|<β i +β 0 When flag=1, set the corresponding desired angle range β c =β c_pre , set flag = 1;

[0041] When β j -β 0 ≤|β|<β j +β 0 When flag=1, set the corresponding desired angle range β c =β c_pre , set flag = 1;

[0042] When |β|≥β max When flag=0, set the corresponding desired angle range β c =β max ·sign(β), set flag = 1;

[0043] When |β|≥β max +β 0 When flag=1, set the corresponding desired angle range β c =β max ·sign(β), set flag = 1;

[0044] Among them, β 0 is a threshold value set according to the calculation accuracy of the expected rotation angle β of the swing axis, satisfying β i , β j is the set threshold, β k is the set gear, β c_pre Calculate the desired angle selected for the previous cycle; flag is the status flag, initialized to 0;

[0045] The corresponding desired angle β c That is the target rotation angle of the swing axis.

[0046] According to a second aspect of the present invention, there is provided a rotation guide system for a two-dimensional solar sail panel driving mechanism, comprising:

[0047] An expected rotation angle calculation module, which is used to calculate an expected rotation angle α of the rotation axis of the two-dimensional solar sail driving mechanism and an expected rotation angle β of the swing axis when the solar sail is pointing toward the sun;

[0048] A rotation axis target rotation angle acquisition module, which is used to determine a rotation guidance strategy for the desired rotation angle α of the rotation axis to obtain a rotation axis target rotation angle;

[0049] A swing shaft desired angle range determination module, the module is used to determine the rotation guidance strategy of the obtained swing shaft desired rotation angle β, and obtain the swing shaft desired angle range;

[0050] A swing shaft target rotation angle acquisition module, which is used to perform fluctuation removal processing on the obtained swing shaft desired angle file to obtain the swing shaft target rotation angle;

[0051] A rotation guidance control module is used to rotationally guide the two-dimensional solar sail panel driving mechanism according to the target rotation angle of the rotating axis and the target rotation angle of the swinging axis.

[0052] According to a third aspect of the present invention, a terminal is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor can be used to execute any of the above-described methods when executing the program.

[0053] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can be used to execute any of the methods described above.

[0054] Due to the adoption of the above technical solution, the present invention has at least one of the following beneficial effects compared with the prior art:

[0055] The rotation guidance method and system of the two-dimensional solar panel driving mechanism provided by the present invention are aimed at the two-dimensional solar panel driving mechanism of low-orbit earth-pointing satellites. On the basis of realizing the solar panel pointing to the sun, the design difficulty of the control algorithm of the two-dimensional solar panel driving mechanism can be reduced, and the stability of the driving mechanism rotation process can be improved.

[0056] The rotation guidance method and system of the two-dimensional solar sail panel driving mechanism provided by the present invention implement a guidance strategy for continuous rotation of the rotating axis based on the solar position vector design, and design a segmented rotation guidance strategy for the swing axis in combination with the characteristic that the position of the sun in the satellite orbit plane changes slowly, which can reduce the number of swing axis rotations, making the guidance strategy simpler to implement and having high guidance accuracy; at the same time, the error introduced when measuring or calculating the solar position vector is taken into consideration, and an avoidance method is designed to effectively prevent the risk of fluctuation of the guidance angle caused by the error, making the guidance strategy more stable and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0058] Figure 1 Schematic diagram of the structure of a common two-dimensional solar panel drive mechanism.

[0059] Figure 2 The figure is a working flow chart of a rotation guiding method of a two-dimensional solar sail panel driving mechanism in one embodiment of the present invention.

[0060] Figure 3 Schematic diagram of the components of the rotation guide system of the two-dimensional solar panel driving mechanism in one embodiment of the present invention.

[0061] In the figure, 1 is a solar sail panel, 2 is a swing axis, 3 is a rotation axis, and 4 is a connecting frame. DETAILED DESCRIPTION

[0062] The following is a detailed description of the embodiments of the present invention: This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

[0063] An embodiment of the present invention provides a rotation guidance method for a two-dimensional solar panel drive mechanism. The method is aimed at a two-dimensional solar panel drive mechanism for a low-orbit earth-pointing satellite. The method calculates the required rotation angle of the two-dimensional solar panel drive mechanism based on the position vector of the sun in the satellite body coordinate system to achieve the two-dimensional solar panel pointing to the sun, and determines the rotation guidance strategies of the rotation axis and the swing axis respectively to eliminate the expected rotation angle fluctuation caused by the calculation error of the sun vector position.

[0064] like Figure 2 As shown, the rotation guiding method of the two-dimensional solar sail panel driving mechanism provided in this embodiment may specifically include the following steps:

[0065] S100, calculating the expected rotation angle α of the rotation axis and the expected rotation angle β of the swing axis of the two-dimensional solar sail panel driving mechanism when the solar sail panel is pointing towards the sun;

[0066] S200, determining a rotation guidance strategy for the desired rotation angle α of the rotation axis, and obtaining a target rotation angle of the rotation axis;

[0067] S300, determining a rotation guidance strategy of the desired rotation angle β of the swing shaft, and obtaining the desired angle level of the swing shaft;

[0068] S400, performing fluctuation removal processing on the obtained desired angle of the swing shaft to obtain a target rotation angle of the swing shaft;

[0069] S500, guiding the rotation of the two-dimensional solar sail panel driving mechanism according to the obtained target rotation angle of the rotation axis and the target rotation angle of the swing axis.

[0070] In a preferred embodiment of S100, calculating the expected rotation angle α of the rotation axis and the expected rotation angle β of the swing axis of the two-dimensional solar sail driving mechanism when the solar sail is pointing toward the sun may include the following steps:

[0071] S101, establishing a solar sailboard coordinate system, with the swing axis as the X axis of the solar sailboard coordinate system, the rotation axis as the Y axis of the solar sailboard coordinate system, and the Z axis of the solar sailboard coordinate system and the X and Y axes forming a right-handed coordinate system;

[0072] S102, when the rotation angles of the rotation axis and the swing axis are set to zero, the directions of the axes of the solar sail panel coordinate system are the same as those of the satellite body coordinate system, and the attitude matrix R from the satellite body coordinate system to the solar sail panel coordinate system is:

[0073]

[0074] Among them, α is the desired rotation angle of the rotating axis, and β is the desired rotation angle of the swinging axis;

[0075] S103, when the normal direction of the solar panel is parallel to the unit vector of the sun position, the solar panel is ensured to be pointing towards the sun, that is, the unit vector of the sun position in the satellite body coordinate system S b The normal unit vector L of the solar cell in the solar panel coordinate system satisfies the following formula:

[0076] L=RS b

[0077] Among them, the normal unit vector of the battery cell L=[L x L y L z ] T , the unit vector S of the sun position in the satellite coordinate system b =[S bx S by S bz ] T ;

[0078] S104, based on the above formula, the following equations are obtained:

[0079]

[0080] S105, solving the above equation group to obtain the desired rotation angle α of the rotation axis and the desired rotation angle β of the swing axis required when the solar panel is pointed toward the sun.

[0081] In a specific application example of S103, the normal unit vector L of the battery cell is L=[L x L y L z ] T The unit vector S of the sun position in the satellite body coordinate system is determined during the solar sail panel structure design and layout. b =[S bx S by S bz ] T Measured by on-board sensors or obtained through attitude calculation.

[0082] In a preferred embodiment of S200, determining the rotation guidance strategy of the desired rotation angle α of the rotation axis to obtain the target rotation angle of the rotation axis may include the following steps:

[0083] When the sun is in the normal direction of the orbital plane pointing to the satellite, that is, the sun position unit vector S b With the vector [0 1 0] T When the axes are collinear, the strategy for guiding the desired rotation angle α of the rotation axis is determined as follows:

[0084] When |β|≥β m When , set the corresponding desired rotation angle α c =α c_pre +ω 0 ·t

[0085] When |β|<β m When , set the corresponding desired rotation angle α c =α

[0086] Among them, β m is the threshold value that represents the degree to which the sun's position is close to the normal direction of the orbital plane, 0<β m <90°;α c_pre is the expected rotation angle of the rotation axis in the previous cycle, ω 0 is the satellite's average orbital angular velocity, t is the rotation axis control period;

[0087] The corresponding expected rotation angle α is obtained c This is the target rotation angle of the rotation axis.

[0088] In a preferred embodiment of S300, determining the rotation guidance strategy of the desired rotation angle β of the swing shaft to obtain the desired angle level of the swing shaft may include the following steps:

[0089] The expected rotation angle β of the swing shaft is guided in steps according to the set angle intervals, that is, when the expected rotation angle β of the swing shaft is within a certain expected angle range, the expected rotation angle β of the swing shaft is set to the set expected rotation angle level; when the expected rotation angle β of the swing shaft exceeds the maximum rotation angle of the swing shaft, the expected rotation angle β of the swing shaft is set to the maximum rotation angle allowed by the swing shaft. The strategy for rotationally guiding the expected rotation angle β of the swing shaft is determined as follows:

[0090] When β i ≤|β|<β j When setting the corresponding desired angle β c =β k ·sign(β)

[0091] When |β|≥β max When setting the corresponding desired angle β c =β max ·sign(β)

[0092] Among them, β max is the maximum rotation angle allowed by the swing axis, β i , β j is the set threshold, β k is the set gear, satisfying β max ≥β j >β i ≥0, β k ∈[β i ,β j ], sign() is the sign function, calculated as follows:

[0093]

[0094] In a preferred embodiment of S400, performing fluctuation removal processing on the obtained desired angle of the swing axis to obtain the target rotation angle of the swing axis may include the following steps:

[0095] Set the status flag and gear switching threshold, and remove the fluctuation of the desired angle gear of the swing axis as follows:

[0096] When β i ≤|β|<β j When flag=0, set the corresponding desired angle range β c =β k ·sign(β), set flag = 1;

[0097] When β i +β 0 ≤|β|<β j -β 0 When flag=1, set the corresponding desired angle range βc =β k ·sign(β), set flag = 1;

[0098] When β i -β 0 ≤|β|<β i +β 0 When flag=1, set the corresponding desired angle range β c =β c_pre , set flag = 1;

[0099] When β j -β 0 ≤|β|<β j +β 0 When flag=1, set the corresponding desired angle range β c =β c_pre , set flag = 1;

[0100] When |β|≥β max When flag=0, set the corresponding desired angle range β c =β max ·sign(β), set flag = 1;

[0101] When |β|≥β max +β 0 When flag=1, set the corresponding desired angle range β c =β max ·sign(β), set flag = 1;

[0102] Among them, β 0 is a threshold value set according to the calculation accuracy of the expected rotation angle β of the swing axis, satisfying β i , β j is the set threshold, β k is the set gear, β c_pre Calculate the desired angle selected for the previous cycle; flag is the status flag, initialized to 0;

[0103] The corresponding desired angle β c That is the target rotation angle of the swing axis.

[0104] The technical solutions provided by the above embodiments of the present invention are further described below.

[0105] The rotation guidance method of the two-dimensional solar panel drive mechanism provided in the above-mentioned embodiment of the present invention has the task of realizing rotation guidance of the two-dimensional solar panel drive mechanism of a low-orbit earth-pointing satellite. The method provides a method for calculating the required rotation angle of the two-dimensional solar panel drive mechanism based on the position vector of the sun in the satellite body coordinate system to realize the pointing of the solar panel towards the sun, and respectively designs the rotation guidance strategies of the rotation axis and the swing axis to solve the fluctuation of the expected rotation angle caused by the calculation error of the sun vector position. On the basis of realizing the pointing of the solar panel towards the sun, the method can reduce the design difficulty of the control algorithm of the two-dimensional solar panel drive mechanism and improve the stability of the rotation process of the drive mechanism.

[0106] In some embodiments of the present invention:

[0107] Provided is a calculation formula for the expected rotation angles of the rotation axis and the swing axis of a two-dimensional solar sail driving mechanism when the solar sail is pointed toward the sun;

[0108] A rotation angle guidance method for the rotation axis is designed to avoid fluctuations in the rotation angle of the rotation axis;

[0109] A calculation method for segmented guidance of swing shaft rotation is provided;

[0110] A method for avoiding fluctuations in the guide angle of the swing shaft caused by an anti-error is provided to improve stability.

[0111] 1. Provide a calculation formula for the expected rotation angle of the rotation axis and the swing axis of the two-dimensional solar sail driving mechanism when the solar sail is pointing to the sun, specifically including:

[0112] 1) First, establish the solar sailboard coordinate system, with the swing axis as the X axis of the solar sailboard coordinate system, the rotation axis as the Y axis of the solar sailboard coordinate system, and the solar sailboard coordinate system Z axis and X, Y axis form a right-handed coordinate system. When the rotation angle of the rotation axis and the swing axis is set to zero, the directions of the axes of the solar sailboard coordinate system are the same as those of the satellite body coordinate system. The calculation formula of the attitude matrix R from the satellite body coordinate system to the solar sailboard coordinate system is as follows:

[0113]

[0114] Wherein, α is the desired rotation angle of the rotation axis, and β is the desired rotation angle of the swing axis.

[0115] 2) When the normal direction of the solar panel is parallel to the unit vector of the sun’s position, the solar panel can be pointed toward the sun, that is, the unit vector of the sun’s position in the satellite’s coordinate system S b The normal unit vector L of the solar cell in the solar panel coordinate system should satisfy the following formula:

[0116] L=RS b

[0117] Among them, the normal unit vector of the battery cell L=[L x L y L z ] T , which is determined when the solar sail panel structure is designed and laid out; the unit vector S of the sun position in the satellite body coordinate system b =[S bx S by S bz ] T , which can be measured by on-board sensors or obtained through attitude calculation;

[0118] Thus, the following system of equations is obtained:

[0119]

[0120] By solving the above equations, the desired rotation angle α of the rotation axis and the desired rotation angle β of the swing axis required for the solar panel to point toward the sun can be obtained.

[0121] In a specific application example, L = [0 0 1] T For example, when the solar panel points to the sun, the desired rotation angle α of the rotation axis and the desired rotation angle β of the swing axis are:

[0122]

[0123] 2. Design a rotation angle guidance method for the rotation axis to avoid fluctuations in the rotation angle of the rotation axis, including:

[0124] To avoid the situation where the sun is in the normal direction of the orbital plane pointing to the satellite, that is, the sun position unit vector S b With the vector [0 1 0] T When the axes are collinear, the expected rotation angle α of the rotation axis calculated by the equation group may be an arbitrary value, which causes fluctuations in the expected rotation angle of the rotation axis. The guidance method for the expected rotation angle of the rotation axis is designed as follows:

[0125] When |β|≥β m When setting the desired angle α c =α c_pre +ω 0 ·t

[0126] When |β|<β m When setting the desired angle α c =α

[0127] Among them, β m is the threshold value that represents the degree to which the sun's position is close to the normal direction of the orbital plane, 0<β m <90°;α c_preis the expected rotation angle of the rotation axis in the previous cycle, ω 0 is the average orbital angular velocity of the satellite, and t is the rotation control period of the rotation axis.

[0128] 3. Provide a calculation method for the segmented guidance of the swing shaft rotation, specifically including:

[0129] The position of the sun in the satellite orbital plane changes slowly, and the expected rotation angle guide of the swing axis is designed to be divided into grades according to a certain angle interval to reduce the frequency of swing axis rotation. That is, when the expected rotation angle of the swing axis is within a certain expected angle range, the expected rotation angle is set to the selected expected angle grade to reduce the frequency of swing axis rotation control; when the expected rotation angle of the swing axis exceeds the maximum rotation angle range of the swing axis, the expected rotation angle is set to the maximum allowable rotation angle of the swing axis.

[0130] The calculation formula of the method is described as follows:

[0131] When β i ≤|β|<β j When setting the desired angle β c =β k ·sign(β)

[0132] When |β|≥β max When setting the desired angle β c =β max ·sign(β)

[0133] Among them, β max is the maximum rotation angle allowed by the swing axis, β i , β j , β k For the set threshold and gear, β max ≥β j >β i ≥0, β k ∈[β i ,β j ], sign() is the sign function, calculated as follows:

[0134]

[0135] In a specific application example, taking the angle division interval as 10 degrees and the maximum rotation angle allowed by the swing axis as 45 degrees as an example, a step-by-step guide design result is given as shown in the following table:

[0136]

[0137]

[0138] 4. Provide a method to avoid fluctuations in the guide angle of the swing shaft caused by the anti-error, specifically including:

[0139] Since the unit vector S of the sun's position in the satellite's coordinate system b There are measurement noise and calculation errors, which will affect the calculation accuracy of the expected rotation angle β of the swing shaft, making it possible for the expected angle of the swing shaft to switch multiple times between two adjacent gears. In order to avoid fluctuations caused by the expected angle switching of the swing shaft, the state mark bit and the gear switching threshold are designed to prevent the selected expected angle gear from fluctuating and affecting the stability of the rotation process. The design implementation is described as follows:

[0140] When β i ≤|β|<β j When flag=0, set the desired angle range β c =β k ·sign(β), set flag = 1;

[0141] When β i +β 0 ≤|β|<β j -β 0 When flag=1, set the desired angle range β c =β k ·sign(β), set flag = 1;

[0142] When β i -β 0 ≤|β|<β i +β 0 When flag=1, set the desired angle range β c =β c_pre , set flag = 1;

[0143] When β j -β 0 ≤|β|<β j +β 0 When flag=1, set the desired angle range β c =β c_pre , set flag = 1;

[0144] When |β|≥β max When flag=0, set the desired angle range β c =β max ·sign(β), set flag = 1;

[0145] When |β|≥β max +β 0 When flag=1, set the desired angle range β c =β max·sign(β), set flag = 1;

[0146] Among them, β 0 is the threshold value set according to the calculation accuracy of β, and the value must satisfy β c_pre Calculate the desired angle gear selected for the previous cycle; flag is the status flag bit, initialized to 0.

[0147] An embodiment of the present invention provides a rotation guide system for a two-dimensional solar panel driving mechanism.

[0148] like Figure 3 As shown, the rotation guidance system of the two-dimensional solar sail panel driving mechanism provided in this embodiment may include the following modules:

[0149] An expected rotation angle calculation module, which is used to calculate an expected rotation angle α of the rotation axis of the two-dimensional solar sail driving mechanism and an expected rotation angle β of the swing axis when the solar sail is pointing toward the sun;

[0150] A rotation axis target rotation angle acquisition module, which is used to determine a rotation guidance strategy for the desired rotation angle α of the rotation axis, and obtain the rotation axis target rotation angle;

[0151] A swing shaft desired angle range determination module, which is used to determine a rotation guidance strategy for the desired swing shaft rotation angle β, and obtain the desired swing shaft angle range;

[0152] A swing axis target rotation angle acquisition module, which is used to perform fluctuation removal processing on the obtained swing axis desired angle file to obtain the swing axis target rotation angle;

[0153] A rotation guidance control module is used to rotationally guide the two-dimensional solar sail panel driving mechanism according to the target rotation angle of the rotation axis and the target rotation angle of the swing axis.

[0154] It should be noted that the steps in the method provided by the present invention can be implemented using corresponding modules in the system, and those skilled in the art can refer to the technical solution of the method to implement the composition of the system, that is, the embodiments in the method can be understood as preferred examples for constructing the system, which will not be elaborated here.

[0155] An embodiment of the present invention provides a terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it can be used to execute any one of the methods in the above embodiments of the present invention.

[0156] Optionally, the memory is used to store programs; the memory may include volatile memory (English: volatile memory), such as random-access memory (English: random-access memory, abbreviated: RAM), such as static random-access memory (English: static random-access memory, abbreviated: SRAM), double data rate synchronous dynamic random access memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, abbreviated: DDR SDRAM), etc.; the memory may also include non-volatile memory (English: non-volatile memory), such as flash memory (English: flash memory). The memory is used to store computer programs (such as applications, functional modules, etc. that implement the above method), computer instructions, etc., and the above computer programs, computer instructions, etc. can be partitioned and stored in one or more memories. And the above computer programs, computer instructions, data, etc. can be called by the processor.

[0157] The above-mentioned computer programs, computer instructions, etc. may be stored in one or more memories in partitions, and the above-mentioned computer programs, computer instructions, data, etc. may be called by a processor.

[0158] The processor is used to execute the computer program stored in the memory to implement the various steps in the method involved in the above embodiment. For details, please refer to the relevant description in the above method embodiment.

[0159] The processor and the memory may be independent structures or integrated structures. When the processor and the memory are independent structures, the memory and the processor may be coupled and connected via a bus.

[0160] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, it can be used to execute any one of the methods in the above embodiments of the present invention.

[0161] Those skilled in the art know that, in addition to implementing the system and its various devices provided by the present invention in a purely computer-readable program code, the system and its various devices provided by the present invention can be made to implement the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices provided by the present invention can be considered as a hardware component, and the devices for implementing various functions included therein can also be considered as structures within the hardware component; the devices for implementing various functions can also be considered as both software modules for implementing the method and structures within the hardware component.

[0162] The rotation guidance method and system of the two-dimensional solar panel drive mechanism provided in the above-mentioned embodiment of the present invention are aimed at the two-dimensional solar panel drive mechanism of low-orbit earth-pointing satellite. On the basis of realizing the pointing of the solar panel towards the sun, it can reduce the design difficulty of the control algorithm of the two-dimensional solar panel drive mechanism and improve the stability of the rotation process of the drive mechanism.

[0163] All matters not covered in the above embodiments of the present invention are well known in the art.

[0164] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A rotation guiding method of a two-dimensional solar sail panel driving mechanism, characterized in that: Based on the position vector of the sun in the satellite body coordinate system, the angle of rotation required by the two-dimensional solar sail driving mechanism is calculated to realize the two-dimensional solar sail pointing to the sun, and the rotation guidance strategies of the rotation axis and the swing axis are determined respectively to remove the expected rotation angle fluctuation caused by the calculation error of the sun vector position; including: Calculate the expected rotation angle α of the rotation axis and the expected rotation angle β of the swing axis of the two-dimensional solar sail driving mechanism when the solar sail is pointing toward the sun; Determine a rotation guidance strategy for the desired rotation angle α of the rotation axis to obtain a target rotation angle of the rotation axis; Determine the rotation guidance strategy of the desired rotation angle β of the swing shaft to obtain the desired angle gear of the swing shaft; Performing fluctuation removal processing on the obtained desired angle of the swing shaft to obtain a target rotation angle of the swing shaft; According to the obtained target rotation angle of the rotating axis and the target rotation angle of the swinging axis, the two-dimensional solar sail panel driving mechanism is rotationally guided; The determined rotation guidance strategy of the desired rotation angle β of the swing shaft, to obtain the desired angle level of the swing shaft, includes: The expected rotation angle β of the swing shaft is guided in steps according to the set angle intervals, that is, when the expected rotation angle β of the swing shaft is within a certain expected angle range, the expected rotation angle β of the swing shaft is set to the set expected rotation angle level; when the expected rotation angle β of the swing shaft exceeds the maximum rotation angle of the swing shaft, the expected rotation angle β of the swing shaft is set to the maximum rotation angle allowed by the swing shaft, and the strategy for rotationally guiding the expected rotation angle β of the swing shaft is determined as follows: When β i ≤|β|<β j When setting the corresponding desired angle β c =β k ·sign(β) When |β|≥β max When setting the corresponding desired angle β c =β max ·sign(β) Among them, β max is the maximum rotation angle allowed by the swing axis, β i , β j is the set threshold, β k is the set gear, satisfying β max ≥β j >β i ≥0, β k ∈[β i ,β j ], sign() is the sign function, calculated as follows: The step of performing fluctuation removal processing on the obtained desired angle of the swing shaft to obtain a target rotation angle of the swing shaft includes: Set the status flag and the gear switching threshold, and remove the fluctuation of the desired angle gear of the swing axis as follows: When β i ≤|β|<β j When flag=0, set the corresponding desired angle range β c =β k sign(β), set flag = 1; When β i +β0≤|β|<β j -β0 and flag=1, set the corresponding desired angle range β c =β k sign(β), set flag = 1; When β i -β0≤|β|<β i +β0 and flag=1, set the corresponding desired angle range β c =β c_pre , set flag = 1; When β j -β0≤|β|<β j +β0 and flag=1, set the corresponding desired angle range β c =β c_pre , set flag = 1; When |β|≥β max When flag=0, set the corresponding desired angle range β c =β max sign(β), set flag = 1; When |β|≥β max +β0 and flag=1, set the corresponding desired angle range β c =β max sign(β), set flag = 1; Among them, β0 is a threshold value set according to the calculation accuracy of the expected rotation angle β of the swing axis, satisfying β i , β j is the set threshold, β k is the set gear, β c_pre Calculate the desired angle selected for the previous cycle; flag is the status flag, initialized to 0; The corresponding desired angle β c That is the target rotation angle of the swing axis.

2. The rotation guiding method of the two-dimensional solar sail panel driving mechanism according to claim 1, characterized in that: The method of calculating the expected rotation angle α of the rotation axis and the expected rotation angle β of the swing axis of the two-dimensional solar sail driving mechanism when the solar sail is pointing toward the sun comprises: Establish a solar sailboard coordinate system, with the swing axis as the X axis of the solar sailboard coordinate system, the rotation axis as the Y axis of the solar sailboard coordinate system, and the Z axis of the solar sailboard coordinate system and the X and Y axes forming a right-handed coordinate system; When the rotation angles of the rotation axis and the swing axis are set to zero, the directions of the axes of the solar sail panel coordinate system are the same as those of the satellite body coordinate system. Then the attitude matrix R from the satellite body coordinate system to the solar sail panel coordinate system is: Among them, α is the desired rotation angle of the rotating axis, and β is the desired rotation angle of the swinging axis; When the normal direction of the solar panel is parallel to the unit vector of the sun's position, the solar panel is guaranteed to be pointing towards the sun, that is, the unit vector of the sun's position in the satellite's coordinate system S b The normal unit vector L of the solar cell in the solar panel coordinate system satisfies the following formula: L=RS b Among them, the normal unit vector of the battery cell L=[L x L y L z ] T , the unit vector S of the sun position in the satellite coordinate system b =[S bx S by S bz ] T ; Thus, the following equations are obtained: By solving the above equations, we can obtain the desired rotation angle α of the rotation axis and the desired rotation angle β of the swing axis required for the solar panel to point toward the sun.

3. The rotation guiding method of the two-dimensional solar sail panel driving mechanism according to claim 2, characterized in that: The normal unit vector L of the battery cell is L = [L x L y L z ] T The solar sail panel structure is designed and laid out; the satellite body coordinate system sun position unit vector S b =[S bx S by S bz ] T Measured by on-board sensors or obtained through attitude calculation.

4. The rotation guiding method of the two-dimensional solar sail panel driving mechanism according to claim 1, characterized in that: The rotation guidance strategy of the determined desired rotation angle α of the rotation axis, to obtain the target rotation angle of the rotation axis, includes: When the sun is in the normal direction of the orbital plane pointing to the satellite, that is, the sun position unit vector S b With vector [010] T When they are collinear, the strategy for determining the desired rotation angle α of the rotation axis for rotation guidance is: When |β|≥β m When , set the corresponding desired rotation angle α c =α c_pre +ω0·t When |β|<β m When , set the corresponding desired rotation angle α c =α Among them, β m is the threshold value that represents the degree to which the sun's position is close to the normal direction of the orbital plane, 0<β m <90°;α c_pre is the desired rotation angle of the rotation axis in the previous cycle, ω0 is the average orbital angular velocity of the satellite, and t is the rotation control period of the rotation axis; The corresponding expected rotation angle α is obtained c This is the target rotation angle of the rotation axis.

5. A rotation guide system for a two-dimensional solar sailboard driving mechanism, characterized in that: include: An expected rotation angle calculation module, which is used to calculate an expected rotation angle α of the rotation axis of the two-dimensional solar sail driving mechanism and an expected rotation angle β of the swing axis when the solar sail is pointing toward the sun; A rotation axis target rotation angle acquisition module, which is used to determine a rotation guidance strategy for the desired rotation angle α of the rotation axis to obtain a rotation axis target rotation angle; A swing shaft desired angle range determination module, the module is used to determine the rotation guidance strategy of the obtained swing shaft desired rotation angle β, and obtain the swing shaft desired angle range; A swing shaft target rotation angle acquisition module, which is used to perform fluctuation removal processing on the obtained swing shaft desired angle file to obtain the swing shaft target rotation angle; A rotation guidance control module, the module is used to rotationally guide the two-dimensional solar sail panel driving mechanism according to the target rotation angle of the rotating axis and the target rotation angle of the swinging axis; The determined rotation guidance strategy of the desired rotation angle β of the swing shaft, to obtain the desired angle level of the swing shaft, includes: The expected rotation angle β of the swing shaft is guided in steps according to the set angle intervals, that is, when the expected rotation angle β of the swing shaft is within a certain expected angle range, the expected rotation angle β of the swing shaft is set to the set expected rotation angle level; when the expected rotation angle β of the swing shaft exceeds the maximum rotation angle of the swing shaft, the expected rotation angle β of the swing shaft is set to the maximum rotation angle allowed by the swing shaft, and the strategy for rotationally guiding the expected rotation angle β of the swing shaft is determined as follows: When β i ≤|β|<β j When setting the corresponding desired angle β c =β k ·sign(β) When |β|≥β max When setting the corresponding desired angle β c =β max ·sign(β) Among them, β max is the maximum rotation angle allowed by the swing axis, β i , β j is the set threshold, β k is the set gear, satisfying β max ≥β j >β i ≥0, β k ∈[β i ,β j ], sign() is the sign function, calculated as follows: The step of performing fluctuation removal processing on the obtained desired angle of the swing shaft to obtain a target rotation angle of the swing shaft includes: Set the status flag and the gear switching threshold, and remove the fluctuation of the desired angle gear of the swing axis as follows: When β i ≤|β|<β j When flag=0, set the corresponding desired angle range β c =β k sign(β), set flag = 1; When β i +β0≤|β|<β j -β0 and flag=1, set the corresponding desired angle range β c =β k ·sign(β), set flag = 1; When β i -β0≤|β|<β i +β0 and flag=1, set the corresponding desired angle range β c =β c_pre , set flag = 1; When β j -β0≤|β|<β j +β0 and flag=1, set the corresponding desired angle range β c =β c_pre , set flag = 1; When |β|≥β max When flag=0, set the corresponding desired angle range β c =β max ·sign(β), set flag = 1; When |β|≥β max +β0 and flag=1, set the corresponding desired angle range β c =β max ·sign(β), set flag = 1; Among them, β0 is a threshold value set according to the calculation accuracy of the expected rotation angle β of the swing axis, satisfying β i , β j is the set threshold, β k is the set gear, β c_pre Calculate the desired angle selected for the previous cycle; flag is the status flag, initialized to 0; The corresponding desired angle β c That is the target rotation angle of the swing axis.

6. A terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, it can be used to perform the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, it can be used to execute the method according to any one of claims 1 to 4.

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