Tracking planning control method and system for two-dimensional solar sail panel drive mechanism

Abstract

The present invention provides a tracking planning control method and system for a two-dimensional solar sailboard drive mechanism. Based on the deviation between the desired rotation angle required when the solar sailboard is pointed to the sun and the current actual rotation angle of the solar sailboard drive mechanism, the tracking angular velocity of the rotation axis and the swing axis of the solar sailboard drive mechanism are planned during the rotation process, so as to realize the rotation of the solar sailboard drive mechanism to the desired rotation angle. A corresponding terminal and medium are also provided. The tracking planning control method and system for a two-dimensional solar sailboard drive mechanism provided by the present invention have the advantages of simple control method, high angle control accuracy and stable rotation control.

Description

Technical Field

[0001] The present invention relates to the field of satellite control technology, and in particular to a tracking planning control method and system for a two-dimensional solar sail panel driving mechanism. Background Art

[0002] With the development of low-orbit commercial communication satellites, the capabilities of satellite payloads are becoming stronger and stronger, while the power consumption of payloads is also increasing. In order to ensure the continuity of satellite services, satellites are often required to always maintain a specific direction to meet the working requirements of the payload, which makes it difficult for satellites using fixed solar arrays to simultaneously meet the power consumption of the payload and the requirements for satellite pointing. In order to enable the satellite to maintain a specific direction while maximizing the utilization rate of the solar array, a solar sail driving mechanism is used to drive the solar array to rotate, so that the normal line of the solar array can be as parallel to the sunlight as possible, so as to obtain energy more efficiently. Communication satellites with a three-axis stable pointing mode are often equipped with a two-dimensional solar sail driving mechanism to achieve the solar sail pointing to the sun, wherein the two-dimensional solar sail driving mechanism consists of a rotating shaft that can rotate 360 ​​degrees continuously, a swing shaft that can rotate within a limited angle on both sides of the zero position, and a connecting frame connecting the rotating shaft and the swing shaft; wherein the rotating shaft is directly mounted on the satellite body, the swing shaft is connected to the rotating shaft through the connecting frame, and the solar array is connected to the swing shaft.

[0003] The existing methods for controlling the rotation of drive mechanisms usually directly adopt capture angle control, or adopt a method combining capture angle control with tracking control. Since the desired rotation angle of the driving mechanism's rotating shaft is constantly changing, the capture angle control also needs to consider the change in the desired rotation angle during the capture process, making the control method more complicated to design. At the same time, the angular velocity used in capture control is often a constant, and the smoothness of the rotation process is not considered. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a tracking planning control method and system for a two-dimensional solar sail panel driving mechanism.

[0005] According to one aspect of the present invention, a tracking planning control method for a two-dimensional solar panel drive mechanism is provided, characterized in that, based on the deviation between the desired rotation angle required when the solar panel is pointed to the sun and the current actual rotation angle of the solar panel drive mechanism, the tracking angular velocity of the rotation axis and the swing axis of the solar panel drive mechanism during the rotation process is planned to realize the rotation of the solar panel drive mechanism to the desired rotation angle; the method comprises:

[0006] Determine a rotation axis tracking angular velocity gear range of the solar sail driving mechanism, wherein the gear range includes: a low speed gear range, a medium speed gear range and a fast speed gear range;

[0007] Obtaining the expected rotation angle of the rotation axis required when the solar panel is pointed toward the sun and the current actual rotation angle of the rotation axis of the solar panel driving mechanism, and obtaining the deviation between the two; and planning the rotation axis tracking angular velocity according to the deviation and the gear range;

[0008] When the tracking angular velocity of the rotating axis is in a low-speed range, the tracking angular velocity of the rotating axis is automatically adjusted, and the tracking angular velocity of the rotating axis is dynamically adjusted to obtain a target angular velocity of the rotating axis;

[0009] Obtaining the expected rotation angle of the swing axis required when the solar panel is pointed toward the sun and the current actual swing axis rotation angle of the solar panel driving mechanism, obtaining the angle deviation between the two, using a trapezoidal path curve to plan the swing axis tracking angular velocity, and calculating the swing axis tracking angular velocity based on the trapezoidal area enclosed by the trapezoidal path curve and the angle deviation, to obtain a target angular velocity of the swing axis;

[0010] The solar panel driving mechanism is controlled to rotate to a desired rotation angle by using the obtained target angular velocity of the rotating shaft and the target angular velocity of the swinging shaft.

[0011] Optionally, determining the rotation axis tracking angular velocity gear interval of the solar sail panel driving mechanism includes:

[0012] According to the satellite's orbital information, the average orbital angular velocity ω0 is obtained, and the orbital angular velocity variation interval is recorded as [ω0-Δω0, ω0+Δω0], where Δω0 is the orbital angular velocity fluctuation value;

[0013] The rotation axis tracking angular velocity is discretized and the rotation axis tracking angular velocity gear is simplified into three gear intervals according to the rotation axis tracking angular velocity, which are respectively recorded as a low speed gear interval, a medium speed gear interval and a fast speed gear interval;

[0014] In the low speed range, the rotation axis tracks the change range of the angular velocity [ω Lmin ,ω Lmax ] contains the orbital angular velocity variation interval [ω0-Δω0,ω0+Δω0], that is, it satisfies ω Lmin <ω0-Δω0,ω Lmax >ω0+Δω0; the tracking angular velocity of the rotating shaft in the low-speed range is divided into equal intervals, and the median value of the low-speed range is the average orbital angular velocity ω0;

[0015] The median of the medium speed range and the median of the fast speed range are selected as n1·ω0 and n2·ω0, respectively, where: n1 and n2 are both amplification factors.

[0016] Optionally, the number of the rotation axis tracking angular velocity values ​​in the medium speed range and the fast speed range is 1 to 2 respectively.

[0017] Optionally, the step of obtaining an expected rotation angle of a rotation axis required when the solar panel is pointed toward the sun and an actual rotation angle of a rotation axis of a solar panel driving mechanism to obtain a deviation between the two; and planning the tracking angular velocity of the rotation axis according to the deviation and the gear range includes:

[0018] Based on the deviation between the expected rotation angle of the rotating axis and the actual rotation angle of the rotating axis, the rotating axis tracking angular velocity is planned; wherein: when the deviation exceeds a set threshold, the rotating axis tracking angular velocity is selected from the fast gear interval; when the deviation is within the set threshold interval, the rotating axis tracking angular velocity is selected from the medium speed gear interval; when the deviation is less than the set threshold, the rotating axis tracking angular velocity is selected from the low speed gear interval.

[0019] Optionally, planning the tracking angular velocity of the rotation axis includes:

[0020] The deviation is Δα, and the angular velocity ω of the rotating axis is tracked A Make the following plans:

[0021] When |Δα|>α3, the rotation axis tracks the angular velocity ω A =ω3·sign(Δα), denote flag=1;

[0022] When α3≥|Δα|>α2 and flag=1, the rotation axis tracks the angular velocity ω A =ω3·sign(Δα), set flag=1;

[0023] When α3≥|Δα|>α2 and flag=0, the rotation axis tracks the angular velocity ω A =ω2·sign(Δα), set flag=0;

[0024] When α2≥|Δα|>α1 and flag=1, the rotation axis tracks the angular velocity ω A =ω2·sign(Δα), set flag=1;

[0025] When α2≥|Δα|>α1 and flag=0, the rotation axis tracks the angular velocity ω A =ω1·sign(Δα), set flag=0;

[0026] When α1≥|Δα|≥-α1, the rotating axis tracks the angular velocity ω A =ω1·sign(ω Apre ), set flag = 0;

[0027] Among them, α1, α2, α3 are set thresholds, and α3>α2>α1>0; |Δα| represents the absolute value of Δα; ω A is the planned rotation axis tracking angular velocity, ω3 is the angular velocity value in the fast gear interval, ω2 is the angular velocity value in the medium speed gear interval, ω1 is the angular velocity value in the low speed gear interval, and ω Apre is the tracking angular velocity obtained in the previous cycle planning; flag is the process status flag, initialized to 0; sign() is the sign function, and the values ​​are as follows:

[0028]

[0029] Optionally, when the tracking angular velocity of the rotating axis is in a low speed range, automatically adjusting the tracking angular velocity of the rotating axis, dynamically adjusting the tracking angular velocity of the rotating axis to obtain a target angular velocity of the rotating axis, includes:

[0030] When the rotating axis tracks the angular velocity ω A When in the low gear range, the angular velocity ω of the rotating axis is tracked A Make the following automatic adjustments:

[0031] ω A =ω A +K·Δω min

[0032] If |ω A |≥ω Lmax , then ω A =ω Lmax ·sign(ω A );

[0033] If |ω A |≤ω Lmin , then ω A =ω Lmin ·sign(ω A );

[0034] Among them, Δω min is the minimum interval of the low-speed angular velocity of the rotating shaft, which is one order of magnitude smaller than Δω0; K is the angular velocity adjustment coefficient, which is an integer and initialized to 0; ω Lmin ,ω Lmax The minimum and maximum values ​​of the angular velocity of the rotating axis in the low-speed range;

[0035] The value of the angular velocity adjustment coefficient K is:

[0036] If Δα>Δα pre And Δα>α0, then K=K+1;

[0037] If Δα>Δαpre And Δα≤α0, then K remains unchanged;

[0038] If Δα≤Δα pre And Δα<-α0, then K=K-1;

[0039] If Δα≤Δα pre And Δα≥-α0, then K remains unchanged;

[0040] Wherein, Δα represents the expected rotation angle of the rotation axis required when the solar panel points to the sun and the actual rotation angle of the rotation axis of the solar panel driving mechanism at present, Δα pre Indicates the deviation between the expected rotation angle and the actual rotation angle of the rotation axis in the previous cycle; α0 is the steady-state threshold of the deviation control, α0>0;

[0041] The adjusted rotation axis tracks the angular velocity ω A This is the target angular velocity of the rotation axis.

[0042] Optionally, the obtaining of the expected rotation angle of the swing axis required when the solar panel is pointed toward the sun and the current actual swing axis rotation angle of the solar panel driving mechanism to obtain the angle deviation between the two, using a trapezoidal path curve to plan the swing axis tracking angular velocity, and calculating the swing axis tracking angular velocity based on the trapezoidal area enclosed by the trapezoidal path curve and the angle deviation to obtain the target angular velocity of the swing axis, includes:

[0043] The deviation between the expected rotation angle of the swing axis required when the solar panel is pointing to the sun and the actual current swing axis rotation angle of the solar panel driving mechanism is Δβ. According to the trapezoidal path curve, after the acceleration, uniform speed and deceleration processes in sequence, the trapezoidal area enclosed by the angular velocity curve and the time axis is the swing axis rotation angle. The swing axis rotation angle is equal to the rotation angle deviation Δβ, and the swing axis tracking angular velocity is adjusted from 0 to ω. m The acceleration process is divided into steps according to the interval ω Bmin Continuous grading is performed to achieve uniform acceleration during the acceleration process and reduce the impact on the posture. The number of gradings of the swing axis tracking angular velocity is recorded.

[0044] Calculate the angular velocity ω of the swing axis B for:

[0045] ω B =ω Bmin ·C·sign(Δβ)

[0046] Where C is the planned swing axis tracking angular velocity adjustment count;

[0047] The planned swing axis tracking angular velocity adjustment count C is:

[0048] When |Δβ|≥β2, then Set State = 1;

[0049] When β1≤|Δβ|<β2 and state=1, then Set State = 1;

[0050] When |Δβ|<β1 and state=1, then

[0051] When |Δβ|<β2 and state=0, then C=0, set State=0;

[0052] Where |Δβ| represents the absolute value of Δβ; C pre The angular velocity adjustment count for the swing axis tracking planned in the previous cycle; State is the process state flag, initialized to 0, and the threshold β2>β1>0 is set;

[0053] Adjusted swing axis rotation angular velocity ω B This is the target angular velocity of the swing axis.

[0054] According to another aspect of the present invention, a tracking planning and control system for a two-dimensional solar sail panel driving mechanism is provided, comprising:

[0055] A gear interval setting module, which is used to determine the gear interval of the rotation axis tracking angular velocity of the solar sail driving mechanism, wherein the gear interval includes: a low speed gear interval, a medium speed gear interval and a fast speed gear interval;

[0056] A rotation axis tracking angular velocity planning module, which is used to obtain the expected rotation angle of the rotation axis required when the solar panel is pointed toward the sun and the current actual rotation angle of the rotation axis of the solar panel driving mechanism, and obtain the deviation between the two; and plan the rotation axis tracking angular velocity according to the deviation and the gear range;

[0057] A rotation axis tracking angular velocity adjustment module, which is used to automatically adjust the rotation axis tracking angular velocity when the rotation axis tracking angular velocity is in a low speed range, dynamically adjust the rotation axis tracking angular velocity, and obtain a target rotation angle of the rotation axis;

[0058] A swing axis tracking angular velocity calculation module, which is used to obtain the expected swing axis rotation angle required when the solar panel is pointed toward the sun and the current actual swing axis rotation angle of the solar panel driving mechanism, obtain the rotation angle deviation between the two, use a trapezoidal path curve to plan the swing axis tracking angular velocity, calculate the swing axis tracking angular velocity based on the trapezoidal area enclosed by the trapezoidal path curve and the rotation angle deviation, and obtain the target rotation angle of the swing axis;

[0059] A control module is used to control the solar sail panel driving mechanism to rotate to a desired rotation angle according to the obtained target rotation angle of the rotating shaft and the target rotation angle of the swinging shaft.

[0060] 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.

[0061] 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.

[0062] 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:

[0063] The tracking planning control method and system of the two-dimensional solar sail panel driving mechanism provided by the present invention have the advantages of simple control method, high angle control accuracy and stable rotation control.

[0064] The tracking planning control method and system of the two-dimensional solar panel drive mechanism provided by the present invention have low requirements on the software and hardware functions of the drive mechanism itself, and do not require the drive mechanism itself to implement closed-loop control. Based on the gear range selection strategy described in the method, the drive mechanism is configured with angular velocity values ​​of limited gears, and the angular velocity planning method designed according to the method can realize the solar panel drive mechanism to rotate quickly and smoothly to the desired rotation angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] 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:

[0066] Figure 1 The figure is a flowchart of a tracking planning control method for a two-dimensional solar panel driving mechanism in one embodiment of the present invention.

[0067] Figure 2 It is a schematic diagram of planning a trapezoidal path curve of angular velocity of a swing axis in a preferred embodiment of the present invention, wherein the horizontal axis is time and the vertical axis is angular velocity.

[0068] Figure 3 The figure is a schematic diagram of the component modules of the tracking planning control system of the two-dimensional solar sail panel driving mechanism in one embodiment of the present invention. DETAILED DESCRIPTION

[0069] 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.

[0070] An embodiment of the present invention provides a tracking planning control method for a two-dimensional solar panel driving mechanism.

[0071] like Figure 1 As shown, the tracking planning control method of the two-dimensional solar sail panel driving mechanism provided in this embodiment plans the tracking angular velocity of the rotation axis and the swing axis of the solar sail panel driving mechanism during the rotation process based on the deviation between the expected rotation angle required when the solar sail panel points to the sun and the current actual rotation angle of the solar sail panel driving mechanism, so as to realize the rotation of the solar sail panel driving mechanism to the expected rotation angle; specifically, the following steps may be included:

[0072] S100, determining a rotation axis tracking angular velocity gear range of a solar sail driving mechanism, the gear range comprising: a low speed gear range, a medium speed gear range and a fast speed gear range;

[0073] S200, obtaining an expected rotation angle of the rotation axis required when the solar panel is pointed toward the sun and a current actual rotation angle of the rotation axis of the solar panel driving mechanism, and obtaining a deviation between the two; and planning the tracking angular velocity of the rotation axis according to the deviation and the gear range;

[0074] S300, when the tracking angular velocity of the rotating axis is in a low speed range, automatically adjusting the tracking angular velocity of the rotating axis, dynamically adjusting the tracking angular velocity of the rotating axis, and obtaining a target angular velocity of the rotating axis;

[0075] S400, obtaining the expected rotation angle of the swing axis required when the solar panel is pointed toward the sun and the current actual swing axis rotation angle of the solar panel driving mechanism, obtaining the rotation angle deviation between the two, using a trapezoidal path curve to plan the swing axis tracking angular velocity, and calculating the swing axis tracking angular velocity based on the trapezoidal area enclosed by the trapezoidal path curve and the rotation angle deviation, to obtain a target angular velocity of the swing axis;

[0076] S500, controlling the solar panel driving mechanism to rotate to a desired rotation angle by using the obtained target angular velocity of the rotating axis and the target angular velocity of the swinging axis.

[0077] In a preferred embodiment of S100, determining the rotation axis tracking angular velocity gear range of the solar panel driving mechanism may include the following steps:

[0078] S101, according to the orbit information of the satellite, the average orbital angular velocity ω0 is obtained, and the orbital angular velocity variation interval is recorded as [ω0-Δω0, ω0+Δω0], where Δω0 is the orbital angular velocity fluctuation value;

[0079] S102, discretize the value of the rotation axis tracking angular velocity, and simplify the rotation axis tracking angular velocity gear into three gear intervals according to the rotation axis tracking angular velocity, which are respectively recorded as a low speed gear interval, a medium speed gear interval and a fast speed gear interval; wherein:

[0080] In the low-speed range, the rotation axis tracks the change range of angular velocity [ω Lmin ,ω Lmax ] contains the orbital angular velocity variation interval [ω0-Δω0,ω0+Δω0], that is, it satisfies ω Lmin <ω0-Δω0,ω Lmax >ω0+Δω0; the tracking angular velocity of the rotating axis in the low-speed range is divided into equal intervals, and the median value of the low-speed range is the average orbital angular velocity ω0;

[0081] The median of the medium speed range and the median of the fast speed range are selected as n1·ω0 and n2·ω0, respectively, where

[0082] n1 and n2 are both amplification factors.

[0083] In a specific application example of S102, the number of angular velocity values ​​tracked by the rotating axis in the medium speed range and the fast speed range is 1 to 2 respectively; for example, when ω0=0.06° / s and Δω0=0.01° / s, n1 is 2.5 and n2 is 5 or n1 is 5 and n2 is 10, etc.

[0084] In a preferred embodiment of S200, the expected rotation angle of the rotation axis required when the solar panel is pointed toward the sun and the current actual rotation angle of the rotation axis of the solar panel driving mechanism are obtained to obtain the deviation between the two; and the tracking angular velocity of the rotation axis is planned according to the deviation and the gear range, which may include the following steps:

[0085] Based on the deviation between the expected rotation angle of the rotating axis and the actual rotation angle of the rotating axis, the rotating axis tracking angular velocity is planned; wherein: when the deviation exceeds the set threshold, the rotating axis tracking angular velocity is selected from the fast gear interval; when the deviation is within the set threshold interval, the rotating axis tracking angular velocity is selected from the medium speed gear interval; when the deviation is less than the set threshold, the rotating axis tracking angular velocity is selected from the low speed gear interval.

[0086] In a preferred embodiment of S200, further, planning the tracking angular velocity of the rotation axis may include the following steps:

[0087] Let the deviation be Δα, and the angular velocity ω of the rotating axis be tracked A Make the following plans:

[0088] When |Δα|>α3, the rotation axis tracks the angular velocity ω A =ω3·sign(Δα), denote flag=1;

[0089] When α3≥|Δα|>α2 and flag=1, the rotation axis tracks the angular velocity ω A =ω3·sign(Δα), set flag=1;

[0090] When α3≥|Δα|>α2 and flag=0, the rotation axis tracks the angular velocity ω A =ω2·sign(Δα), set flag=0;

[0091] When α2≥|Δα|>α1 and flag=1, the rotation axis tracks the angular velocity ω A =ω2·sign(Δα), set flag=1;

[0092] When α2≥|Δα|>α1 and flag=0, the rotation axis tracks the angular velocity ω A =ω1·sign(Δα), set flag=0;

[0093] When α1≥|Δα|≥-α1, the rotating axis tracks the angular velocity ω A =ω1·sign(ω Apre ), set flag = 0;

[0094] Among them, α1, α2, α3 are set thresholds, and α3>α2>α1>0; |Δα| represents the absolute value of Δα; ω A is the planned rotation axis tracking angular velocity, ω3 is the angular velocity value in the fast gear range, ω2 is the angular velocity value in the medium speed range, ω1 is the angular velocity value in the low speed range, ω Apre is the tracking angular velocity obtained in the previous cycle planning; flag is the process status flag, initialized to 0; sign() is the sign function, and the values ​​are as follows:

[0095]

[0096] In a preferred embodiment of S300, when the tracking angular velocity of the rotating axis is in a low speed range, the tracking angular velocity of the rotating axis is automatically adjusted, and the tracking angular velocity of the rotating axis is dynamically adjusted to obtain the target angular velocity of the rotating axis, which may include the following steps:

[0097] When the rotating axis tracks the angular velocity ω A When in the low gear range, the angular velocity ω of the rotating axis is tracked AMake the following automatic adjustments:

[0098] ω A =ω A +K·Δω min

[0099] If |ω A |≥ω Lmax , then ω A =ω Lmax ·sign(ω A );

[0100] If |ω A |≤ω Lmin , then ω A =ω Lmin ·sign(ω A );

[0101] Among them, Δω min is the minimum interval of the low-speed angular velocity of the rotating shaft, which is one order of magnitude smaller than Δω0; K is the angular velocity adjustment coefficient, which is an integer and initialized to 0; ω Lmin ,ω Lmax The minimum and maximum values ​​of the angular velocity of the rotating axis in the low-speed range;

[0102] The value of the angular velocity adjustment coefficient K is:

[0103] If Δα>Δα pre And Δα>α0, then K=K+1;

[0104] If Δα>Δα pre And Δα≤α0, then K remains unchanged;

[0105] If Δα≤Δα pre And Δα<-α0, then K=K-1;

[0106] If Δα≤Δα pre And Δα≥-α0, then K remains unchanged;

[0107] Wherein, Δα represents the expected rotation angle of the rotation axis required when the solar panel points to the sun and the actual rotation angle of the rotation axis of the solar panel driving mechanism at present, Δα pre Indicates the deviation between the expected rotation angle and the actual rotation angle of the rotation axis in the previous cycle; α0 is the steady-state threshold of the deviation control, α0>0;

[0108] The adjusted rotation axis tracks the angular velocity ω A This is the target angular velocity of the rotation axis.

[0109] In a preferred embodiment of S400, the expected rotation angle of the swing axis required when the solar panel is pointed toward the sun and the actual current swing axis rotation angle of the solar panel driving mechanism are obtained, the angle deviation between the two is obtained, the swing axis tracking angular velocity is planned using a trapezoidal path curve, and the swing axis tracking angular velocity is calculated based on the trapezoidal area enclosed by the trapezoidal path curve and the angle deviation to obtain the target angular velocity of the swing axis, which may include the following steps:

[0110] The deviation between the expected swing axis rotation angle required when the solar panel points to the sun and the actual swing axis rotation angle of the solar panel driving mechanism is Δβ. According to the trapezoidal path curve, after the acceleration, uniform speed and deceleration processes in sequence, the trapezoidal area enclosed by the angular velocity curve and the time axis is the swing axis rotation angle. The swing axis rotation angle is equal to the deviation Δβ, so that the swing axis tracks the angular velocity from 0 to ω. m The acceleration process is divided into steps according to the interval ω Bmin Continuous grading is performed to achieve uniform acceleration during the acceleration process and reduce the impact on the posture. The number of gradings of the swing axis tracking angular velocity is recorded.

[0111] Calculate the angular velocity ω of the swing axis B for:

[0112] ω B =ω Bmin ·C·sign(Δβ)

[0113] Where C is the planned swing axis tracking angular velocity adjustment count;

[0114] The planned swing axis tracking angular velocity adjustment count C is:

[0115] When |Δβ|≥β2, then Set State = 1;

[0116] When β1≤|Δβ|<β2 and state=1, then Set State = 1;

[0117] When |Δβ|<β1 and state=1, then

[0118] When |Δβ|<β2 and state=0, then C=0, set State=0;

[0119] Where |Δβ| represents the absolute value of Δβ; C pre The angular velocity adjustment count for the swing axis tracking planned in the previous cycle; State is the process state flag, initialized to 0, and the threshold β2>β1>0 is set;

[0120] Adjusted swing axis rotation angular velocity ω B This is the target angular velocity of the swing axis.

[0121] The technical solutions provided by the above embodiments of the present invention are further described below.

[0122] The tracking planning control method of the two-dimensional solar panel drive mechanism provided in the above-mentioned embodiment of the present invention realizes the tracking planning control of the rotation angular velocity of the two-dimensional solar panel drive mechanism during the rotation process. The method plans the tracking angular velocity of the rotation axis and the swing axis of the solar panel drive mechanism during the rotation process based on the deviation between the expected rotation angle required for the solar panel to point to the sun and the current actual rotation angle of the solar panel drive mechanism, so as to realize the solar panel drive mechanism to rotate quickly and smoothly to the expected rotation angle, so as to achieve the purpose of pointing the solar panel to the sun. The method has the advantages of simple control method, high angle control accuracy and smooth rotation control.

[0123] In some embodiments of the present invention:

[0124] A method for determining a gear range of a rotating axis tracking angular velocity is provided;

[0125] A planning method for tracking the angular velocity of a rotating axis is designed to quickly reduce the amount of angular deviation.

[0126] A method for autonomously adjusting the angular velocity of a rotating axis is designed to improve the control accuracy of the angular deviation.

[0127] A swing axis tracking angular velocity grading method is provided and a swing axis tracking angular velocity planning method is designed, which can realize the smooth rotation of the swing axis and reduce the influence on the satellite attitude.

[0128] 1. Determine the rotation axis tracking angular velocity gear range of the solar sail driving mechanism. The specific steps are as follows:

[0129] Step 1: first, according to the satellite's orbit information, obtain the average orbital angular velocity, recorded as ω0, and record the orbital angular velocity change range as [ω0-Δω0, ω0+Δω0];

[0130] Step 2: Considering the hardware limitation of the driving mechanism, the angular velocity of the rotating axis can be discretized and simplified into three gear intervals according to the angular velocity, which are respectively recorded as low speed, medium speed and fast speed;

[0131] Step 3: When determining the low-speed range of the tracking angular velocity, it is necessary to ensure that the variation range of the angular velocity low-speed range [ω Lmin ,ω Lmax ] should contain the satellite orbit angular velocity variation interval [ω0-Δω0,ω0+Δω0], that is, satisfy ω Lmin <ω0-Δω0,ω Lmax>ω0+Δω0; the angular velocity in the low-speed range is divided into equal intervals, and the median value can be selected as the average orbital angular velocity ω0;

[0132] Step 4: The median values ​​of the medium and fast speed intervals of the tracking angular velocity are selected as n1·ω0 and n2·ω0, respectively, where:

[0133] The number of gears in the medium speed and fast speed ranges of the angular velocity can be 1 to 2 gears respectively; for example, when ω0=0.06° / s and Δω0=0.01° / s, n1 is 2.5 and n2 is 5 or n1 is 5 and n2 is 10, etc.

[0134] In the above steps, the purpose of taking values ​​at equal intervals is to stabilize the change of the angular velocity gear when the angular velocity planning enters the low-speed range and realizes autonomous adjustment, so as to facilitate step-by-step adjustment. Taking values ​​at unequal intervals will lead to uneven changes in the angular velocity, which will affect the accuracy of angle control. The role of the median is that when the orbital angular velocity fluctuation value is small, the planned angular velocity is selected as the median value, which can keep the deviation of the turning angle small for a long time, which is conducive to reducing the frequency of changes in the planned angular velocity.

[0135] In the above steps, the number of gears is the number of corresponding angular velocity values. Its function is to select a larger angular velocity value when the initial angle deviation is large, so as to reduce the angle deviation more quickly. Since there is no control accuracy problem when the angle deviation is large, there is no need for too many medium and fast gears, which can also reduce the complexity of algorithm design.

[0136] 2. Design a planning method for the rotation axis to track the angular velocity and quickly reduce the angular deviation, including the following:

[0137] The rotation axis tracking angular velocity planning strategy is:

[0138] Based on the deviation between the expected rotation angle of the rotation axis and the current rotation angle of the rotation axis, the tracking angular velocity of the rotation axis is planned; when the rotation angle deviation exceeds the set threshold, the tracking angular velocity is selected as the fast gear; when the rotation angle deviation is within the set threshold range, the tracking angular velocity is selected as the medium speed gear; when the rotation angle deviation is less than the selected threshold, the tracking angular velocity is selected as the low speed gear;

[0139] The angular deviation is Δα, and the rotation axis is planned to track the angular velocity ω A The specific method is as follows:

[0140] 1) When |Δα|>α3, the tracking angular velocity ω A =ω3·sign(Δα), denote flag=1;

[0141] 2) When α3≥|Δα|>α2 and flag=1, track the angular velocity ω A=ω3·sign(Δα), set flag=1;

[0142] 3) When α3≥|Δα|>α2 and flag=0, track the angular velocity ω A =ω2·sign(Δα), set flag=0;

[0143] 4) When α2≥|Δα|>α1 and flag=1, track the angular velocity ω A =ω2·sign(Δα), set flag=1;

[0144] 5) When α2≥|Δα|>α1 and flag=0, track the angular velocity ω A =ω1·sign(Δα), set flag=0;

[0145] 6) When α1≥|Δα|≥-α1, tracking angular velocity ω A =ω1·sign(ω Apre ), set flag = 0;

[0146] Wherein, α1, α2, α3 are selected thresholds, and α3>α2>α1>0; |Δα| represents the absolute value of Δα; ω Apre is the tracking angular velocity obtained in the previous cycle planning; flag is the process status flag, initialized to 0; sign() is the sign function (the same below), and the values ​​are as follows:

[0147]

[0148] 3. Design an autonomous adjustment method for the angular velocity of the rotating axis to improve the control accuracy of the angular deviation, including the following contents;

[0149] When the rotation axis is planned to track the angular velocity ω A When in the low-speed range, the tracking angular velocity automatic adjustment method is designed to dynamically adjust the angular velocity to improve the control accuracy of the angular deviation. The automatic adjustment method is as follows:

[0150] ω A =ω A +K·Δω min

[0151] If |ω A |≥ω Lmax , then ω A =ω Lmax ·sign(ω A );

[0152] If |ω A |≤ω Lmin , then ω A =ω Lmin·sign(ω A );

[0153] Among them, Δω min is the minimum interval of the angular velocity of the low-speed gear of the rotating shaft, and its value should be one order of magnitude smaller than Δω0; K is the angular velocity adjustment coefficient, which is an integer and is initialized to 0;

[0154] The calculation process of the angular velocity adjustment coefficient K is as follows:

[0155] 1) If Δα>Δα pre And Δα>α0, then K=K+1;

[0156] 2) If Δα>Δα pre And Δα≤α0, then K remains unchanged;

[0157] 3) If Δα≤Δα pre And Δα<-α0, then K=K-1;

[0158] 4) If Δα≤Δα pre And Δα≥-α0, then K remains unchanged;

[0159] Among them, Δα pre Indicates the deviation between the expected rotation angle of the rotation axis in the previous cycle and the current rotation angle; α0 is the steady-state threshold of the deviation control, α0>0;

[0160] 4. Design a swing axis tracking angular velocity planning method to smoothly rotate the swing axis and reduce the impact on the posture, including the following contents;

[0161] The deviation between the expected rotation angle of the swing axis and the current rotation angle is Δβ. To maintain the stability of the swing axis rotation, the angular velocity of the swing axis is as follows: Figure 2 The trapezoidal path curve planning shown in the figure (note: the horizontal axis is time, the vertical axis is angular velocity), after the acceleration, uniform speed, and deceleration process, the trapezoidal area enclosed by the angular velocity curve and the time axis is the angle of rotation of the swing axis. The trapezoidal area is equal to the angular deviation Δβ, and the swing axis is designed to track the angular velocity from 0 to ω m According to the bin interval ω Bmin Continuous division, record the number of divisions of the swing axis tracking angular velocity

[0162] Angular velocity of the swing axis ω B Calculate as follows:

[0163] ω B =ω Bmin ·C·sign(Δβ)

[0164] Where C is the planned tracking angular velocity adjustment count; ω Bminis the interval of the swing axis angular velocity;

[0165] The planned tracking angular velocity adjustment count C is calculated according to the following strategy:

[0166] 1) When |Δβ|≥β2, then Set State = 1;

[0167] 2) When β1≤|Δβ|<β2 and state=1, then Set State = 1;

[0168] 3) When |Δβ|<β1 and state=1, then

[0169] 4) When |Δβ|<β2 and state=0, then C=0, set State=0;

[0170] Where |Δβ| represents the absolute value of Δβ; C pre It is the tracking angular velocity adjustment count planned in the previous cycle; State is the process state flag, initialized to 0, and the threshold β2>β1>0.

[0171] The tracking planning control method of the two-dimensional solar sail panel driving mechanism provided by the above embodiment of the present invention has the advantages of simple control method, high angle control accuracy and smooth rotation control.

[0172] An embodiment of the present invention provides a tracking planning and control system for a two-dimensional solar panel driving mechanism.

[0173] like Figure 3 As shown, the tracking planning and control system of the two-dimensional solar sail panel driving mechanism provided in this embodiment may include the following modules:

[0174] A gear range setting module, which is used to determine the gear range of the rotation axis tracking angular velocity of the solar sail driving mechanism, the gear range includes: a low speed range, a medium speed range and a fast speed range;

[0175] A rotation axis tracking angular velocity planning module is used to obtain the desired rotation angle of the rotation axis required when the solar panel is pointing to the sun and the current actual rotation angle of the rotation axis of the solar panel driving mechanism, and obtain the deviation between the two; and plan the rotation axis tracking angular velocity according to the deviation and the gear range;

[0176] A rotation axis tracking angular velocity adjustment module, which is used to automatically adjust the rotation axis tracking angular velocity when the rotation axis tracking angular velocity is in a low speed range, dynamically adjust the rotation axis tracking angular velocity, and obtain a target rotation angle of the rotation axis;

[0177] A swing axis tracking angular velocity calculation module is used to obtain the expected swing axis rotation angle required when the solar panel is pointing to the sun and the actual swing axis rotation angle of the solar panel driving mechanism, obtain the angle deviation between the two, use a trapezoidal path curve to plan the swing axis tracking angular velocity, calculate the swing axis tracking angular velocity based on the trapezoidal area enclosed by the trapezoidal path curve and the angle deviation, and obtain the target rotation angle of the swing axis;

[0178] A control module is used to control the solar sail panel driving mechanism to rotate to a desired rotation angle according to the obtained target rotation angle of the rotating shaft and the target rotation angle of the swinging shaft.

[0179] 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.

[0180] 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.

[0181] 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.

[0182] 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.

[0183] 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.

[0184] 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.

[0185] 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.

[0186] 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.

[0187] The tracking planning control method and system of the two-dimensional solar sail panel driving mechanism provided by the above-mentioned embodiment of the present invention have the advantages of simple control method, high angle control accuracy and stable rotation control.

[0188] All matters not covered in the above embodiments of the present invention are well known in the art.

[0189] 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 tracking planning control method for a two-dimensional solar sail panel drive mechanism, characterized in that: Based on the deviation between the desired rotation angle required when the solar panel is pointed toward the sun and the current actual rotation angle of the solar panel driving mechanism, the tracking angular velocity of the rotation axis and the swing axis of the solar panel driving mechanism during the rotation process is planned to realize the rotation of the solar panel driving mechanism to the desired rotation angle; including: Determine a rotation axis tracking angular velocity gear range of the solar sail driving mechanism, wherein the gear range includes: a low speed gear range, a medium speed gear range and a fast speed gear range; Obtaining the expected rotation angle of the rotation axis required when the solar panel is pointed toward the sun and the current actual rotation angle of the rotation axis of the solar panel driving mechanism, and obtaining the deviation between the two; planning the rotation axis tracking angular velocity according to the deviation and the gear range; When the tracking angular velocity of the rotating axis is in a low-speed range, the tracking angular velocity of the rotating axis is automatically adjusted, and the tracking angular velocity of the rotating axis is dynamically adjusted to obtain a target angular velocity of the rotating axis; Obtaining the expected rotation angle of the swing axis required when the solar panel is pointed toward the sun and the current actual swing axis rotation angle of the solar panel driving mechanism, obtaining the angle deviation between the two, using a trapezoidal path curve to plan the swing axis tracking angular velocity, and calculating the swing axis tracking angular velocity based on the trapezoidal area enclosed by the trapezoidal path curve and the angle deviation, to obtain a target angular velocity of the swing axis; The solar panel driving mechanism is controlled to rotate to a desired rotation angle by using the obtained target angular velocity of the rotating shaft and the target angular velocity of the swinging shaft.

2. The tracking planning control method of the two-dimensional solar sail panel driving mechanism according to claim 1, characterized in that: The step of determining the rotation axis tracking angular velocity gear range of the solar sail panel driving mechanism includes: According to the satellite's orbital information, the average orbital angular velocity ω0 is obtained, and the orbital angular velocity variation interval is recorded as [ω0-Δω0, ω0+Δω0], where Δω0 is the orbital angular velocity fluctuation value; The angular velocity of the rotating axis tracking is discretized and the gear of the rotating axis tracking angular velocity is simplified into three gear intervals according to the size of the angular velocity of the rotating axis tracking, which are respectively recorded as a low-speed gear interval, a medium-speed gear interval and a fast-speed gear interval; In the low speed range, the rotation axis tracks the change range of the angular velocity [ω Lmin ,ω Lmax ] contains the orbital angular velocity variation interval [ω0-Δω0,ω0+Δω0], that is, it satisfies ω Lmin <ω0-Δω0,ω Lmax >ω0+Δω0; the tracking angular velocity of the rotating shaft in the low-speed range is divided into equal intervals, and the median value of the low-speed range is the average orbital angular velocity ω0; The median of the medium speed range and the median of the fast speed range are selected as n1·ω0 and n2·ω0, respectively, where: n1 and n2 are both amplification factors.

3. The tracking planning control method of the two-dimensional solar sail panel driving mechanism according to claim 2, characterized in that: The number of the rotation axis tracking angular velocity values ​​in the medium speed range and the fast speed range is 1 to 2 respectively.

4. The tracking planning control method of the two-dimensional solar sail panel driving mechanism according to claim 1, characterized in that: The step of obtaining the expected rotation angle of the rotation axis required when the solar panel is pointed toward the sun and the actual rotation angle of the rotation axis of the solar panel driving mechanism to obtain the deviation between the two; and planning the tracking angular velocity of the rotation axis according to the deviation and the gear range, including: Based on the deviation between the expected rotation angle of the rotating axis and the actual rotation angle of the rotating axis, the rotating axis tracking angular velocity is planned; wherein: when the deviation exceeds a set threshold, the rotating axis tracking angular velocity is selected from the fast gear interval; when the deviation is within the set threshold interval, the rotating axis tracking angular velocity is selected from the medium speed gear interval; when the deviation is less than the set threshold, the rotating axis tracking angular velocity is selected from the low speed gear interval.

5. The tracking planning control method of the two-dimensional solar sail panel driving mechanism according to claim 4, characterized in that: The planning of the tracking angular velocity of the rotating axis includes: The deviation is Δα, and the angular velocity ω of the rotating axis is tracked A Make the following plans: When |Δα|>α3, the rotation axis tracks the angular velocity ω A =ω3·sign(Δα), denote flag=1; When α3≥|Δα|>α2 and flag=1, the rotation axis tracks the angular velocity ω A =ω3·sign(Δα), set flag=1; When α3≥|Δα|>α2 and flag=0, the rotation axis tracks the angular velocity ω A =ω2·sign(Δα), set flag=0; When α2≥|Δα|>α1 and flag=1, the rotation axis tracks the angular velocity ω A =ω2·sign(Δα), set flag=1; When α2≥|Δα|>α1 and flag=0, the rotation axis tracks the angular velocity ω A =ω1·sign(Δα), set flag=0; When α1≥|Δα|≥-α1, the rotating axis tracks the angular velocity ω A =ω1·sign(ω Apre ), set flag = 0; Among them, α1, α2, α3 are set thresholds, and α3>α2>α1>0; |Δα| represents the absolute value of Δα; ω A is the planned rotation axis tracking angular velocity, ω3 is the angular velocity value in the fast gear interval, ω2 is the angular velocity value in the medium speed gear interval, ω1 is the angular velocity value in the low speed gear interval, and ω Apre is the tracking angular velocity obtained in the previous cycle planning; flag is the process status flag, initialized to 0; sign() is the sign function, and its values ​​are as follows:

6. The tracking planning control method of the two-dimensional solar sail panel driving mechanism according to claim 2, characterized in that: When the tracking angular velocity of the rotating axis is in a low speed range, the tracking angular velocity of the rotating axis is automatically adjusted, and the tracking angular velocity of the rotating axis is dynamically adjusted to obtain a target angular velocity of the rotating axis, including: When the rotating axis tracks the angular velocity ω A When in the low gear range, the angular velocity ω of the rotating axis is tracked A Make the following automatic adjustments: oh A =ω A +K·See min if A |≥ω Lmax , I am A =ω Lmax ·sign(ω A ); if A |≤ω Lmin , I am A =ω Lmin ·sign(ω A ); Among them, Δω min is the minimum interval of the low-speed angular velocity of the rotating shaft, which is one order of magnitude smaller than Δω0; K is the angular velocity adjustment coefficient, which is an integer and initialized to 0; ω Lmin ,ω Lmax The minimum and maximum values ​​of the angular velocity of the rotating axis in the low-speed range; The value of the angular velocity adjustment coefficient K is: If Da>Da pre And Δα>α0, then K=K+1; If Δα>Δα pre And Δα≤α0, then K remains unchanged; If Δα≤Δα pre And Δα<-α0, then K=K-1; If Δα≤Δα pre And Δα≥-α0, then K remains unchanged; Wherein, Δα represents the deviation between the expected rotation angle of the rotation axis required when the solar sail panel points to the sun and the actual rotation angle of the rotation axis of the solar sail panel driving mechanism at present, Δα pre Indicates the deviation between the expected rotation angle and the actual rotation angle of the rotation axis in the previous cycle; α0 is the steady-state threshold of the deviation control, α0>0; The adjusted rotation axis tracks the angular velocity ω A This is the target angular velocity of the rotation axis.

7. The tracking planning control method of the two-dimensional solar sail panel driving mechanism according to claim 1, characterized in that: The method comprises: obtaining the expected rotation angle of the swing axis required when the solar panel is pointed toward the sun and the actual current swing axis rotation angle of the solar panel driving mechanism, obtaining the rotation angle deviation between the two, using a trapezoidal path curve to plan the swing axis tracking angular velocity, and calculating the swing axis tracking angular velocity based on the trapezoidal area enclosed by the trapezoidal path curve and the rotation angle deviation, to obtain the target angular velocity of the swing axis, including: The deviation between the expected rotation angle of the swing axis required when the solar panel is pointing to the sun and the actual current swing axis rotation angle of the solar panel driving mechanism is Δβ. According to the trapezoidal path curve, the angular velocity curve obtained is accelerated, uniformly accelerated, and decelerated in sequence. The trapezoidal area enclosed by the time axis is the swing axis rotation angle. The swing axis rotation angle is equal to the rotation angle deviation Δβ. The swing axis tracking angular velocity is adjusted from 0 to ω. m The acceleration process is divided into steps according to the interval ω Bmin Perform continuous grading and record the number of gradings of the swing axis tracking angular velocity Calculate the angular velocity ω of the swing axis B for: oh B =ω Bmin ·C·sign(Δβ) Where C is the planned swing axis tracking angular velocity adjustment count; The planned swing axis tracking angular velocity adjustment count C is: When |Δβ|≥β2, then Set State = 1; When β1≤|Δβ|<β2 and state=1, then Set State = 1; When |Δβ|<β1 and state=1, then When |Δβ|<β2 and state=0, then C=0, set State=0; Among them, |Δβ| represents the absolute value of Δβ; C pre The angular velocity adjustment count for the swing axis tracking planned in the previous cycle; State is the process state flag, initialized to 0, and the threshold β2>β1>0 is set; Adjusted angular velocity of the swing axis ω B This is the target angular velocity of the swing axis.

8. A tracking planning and control system for a two-dimensional solar sail panel drive mechanism, characterized in that: include: A gear interval setting module, which is used to determine the gear interval of the rotation axis tracking angular velocity of the solar sail driving mechanism, wherein the gear interval includes: a low speed gear interval, a medium speed gear interval and a fast speed gear interval; A rotation axis tracking angular velocity planning module, which is used to obtain the expected rotation angle of the rotation axis required when the solar panel is pointed toward the sun and the current actual rotation angle of the rotation axis of the solar panel driving mechanism, and obtain the deviation between the two; and plan the rotation axis tracking angular velocity according to the deviation and the gear range; A rotation axis tracking angular velocity adjustment module, which is used to automatically adjust the rotation axis tracking angular velocity when the rotation axis tracking angular velocity is in a low speed range, dynamically adjust the rotation axis tracking angular velocity, and obtain a target rotation angle of the rotation axis; A swing axis tracking angular velocity calculation module, which is used to obtain the expected swing axis rotation angle required when the solar panel is pointed toward the sun and the current actual swing axis rotation angle of the solar panel driving mechanism, obtain the rotation angle deviation between the two, use a trapezoidal path curve to plan the swing axis tracking angular velocity, calculate the swing axis tracking angular velocity based on the trapezoidal area enclosed by the trapezoidal path curve and the rotation angle deviation, and obtain the target rotation angle of the swing axis; A control module is used to control the solar sail panel driving mechanism to rotate to a desired rotation angle according to the obtained target rotation angle of the rotating shaft and the target rotation angle of the swinging shaft.

9. 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 7.

10. 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 7.

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