A method for satellite on-orbit status identification based on a solar panel tilting mechanism

Abstract

This invention relates to a method for satellite on-orbit status identification based on a solar panel tilting mechanism, belonging to the field of satellite solar panel control technology. Step 1: After the onboard system fails to store data, information from multiple potentiometers on the tilting mechanisms of the two solar panels on the satellite is collected. If the panel is in the deployed state, proceed to Step 2; if it is in the clamped state, proceed to Step 3. Step 2: The satellite is in full attitude acquisition mode. Determine if the solar panel on that side is in the zero position. If the solar panel is in the zero position, the satellite status setting is complete; if the solar panel is not in the zero position, proceed to Step 5. Step 3: The satellite is in orbit insertion control mode, proceed to Step 4. Step 4: The solar panel is rotated in the opposite direction. Step 5: The potentiometer information on the solar panel tilting mechanism is judged, and the solar panel tilting mechanism is adjusted until the satellite status setting is complete. This invention can adapt to satellites with different initial solar panel states, accurately and autonomously identify the satellite's on-orbit status, and effectively improve the reliability of working mode switching.

Description

Technical Field

[0001] This invention belongs to the field of satellite solar panel control technology, and relates to a method for identifying the on-orbit status of a satellite based on a solar panel tilting mechanism. Background Technology

[0002] my country is currently accelerating the construction of its satellite constellation, with the low-Earth orbit communication constellation of the StarNet system being its first landmark project. Due to constraints such as satellite configuration and orbit, the attitude and orbit control subsystem is equipped with a dual-axis solar panel drive mechanism, adding a solar panel tilting mechanism (B-axis). In normal Earth-facing operation, the solar panel tilting mechanism oscillates at a limited angle, using a potentiometer as the zero-point reference. The potentiometer output range is [-θmax, θmax]. Together with the solar panel drive mechanism (A-axis), which can rotate 360 ​​degrees, it enables solar tracking control of the solar array, thereby meeting the overall satellite's energy requirements.

[0003] Unlike traditional launches where the solar panels are initially in a zero-position, low-Earth orbit communication constellation satellites are launched with the solar panel drive mechanism (A-axis) in a zero-position, while the solar panel tilting mechanism (B-axis) is in a 180-degree retracted and compressed state. After separation from the launch vehicle, the satellite, in its orbital insertion phase, does not deploy using traditional pyrotechnics or spring-loaded mechanisms. Instead, a reusable heat-activated unlocking device is designed, requiring the solar panel tilting mechanism (B-axis) to be reversed 180 degrees to the zero-position to deploy the solar panels.

[0004] Considering the accuracy and range of the potentiometer output from the solar panel tilting mechanism (B-axis), the potentiometer output range [-θmax, θmax] covers the normal operating angle range in orbit, but not the 180-degree retracted and compressed state. Due to this potentiometer output range constraint, the system cannot directly rely on the potentiometer output to achieve zeroing. Therefore, in the autonomous deployment process, the system first uses open-loop control to rotate the solar panel tilting mechanism (B-axis) in the opposite direction at high speed for a certain time T1. After entering the potentiometer range, the system then determines the correct zeroing direction based on the potentiometer voltage output and performs zeroing. After the solar panel is deployed, the satellite enters a full-attitude acquisition mode, maintaining the solar panel at zero position and following the satellite towards the sun to ensure the satellite's overall energy supply.

[0005] For low-Earth orbit communication constellation satellites, the autonomous solar panel deployment process during the orbit insertion phase is a critical process related to the safety of the entire satellite. If it is not executed correctly, after switching to full attitude acquisition mode, the B-axis may not have reached or exceeded the effective output range of the potentiometer, making it impossible to determine the correct zeroing and turning direction. This will result in the B-axis not being able to complete zeroing, which will endanger the energy of the entire satellite. Limited by the low-Earth orbit satellite telemetry and control arc, it may cause irreparable losses.

[0006] The State Grid satellite will subsequently employ two launch methods: powered and unpowered. The tracking and control arc is not guaranteed upon separation. The central computer will be powered on for the first time upon separation from the launch vehicle. After separation is confirmed, the satellite will enter orbit insertion mode. The satellite will autonomously identify its on-orbit status, complete status settings and solar panel deployment, and then transition to full-attitude acquisition mode.

[0007] There is a risk that the solar panel control may fail due to an error in the autonomous solar panel deployment process caused by a special initial state, which could endanger the satellite's energy security. Summary of the Invention

[0008] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose a method for satellite on-orbit status identification based on a solar panel tilting mechanism. This method can adapt to satellites with different initial solar panel states, accurately and autonomously identify the satellite's on-orbit status, and effectively improve the reliability of working mode switching.

[0009] The solution of the present invention is:

[0010] A method for satellite on-orbit status identification based on a solar panel tilting mechanism includes:

[0011] Step 1: After the onboard system fails to store data, collect information from multiple potentiometers on the tilting mechanisms of the two side solar panels on the satellite to determine whether the tilting mechanism is in the fully deployed or clamped state. If it is in the fully deployed state, proceed to Step 2; if it is in the clamped state, proceed to Step 3.

[0012] Step 2: The satellite is in full attitude acquisition mode. It checks the single-side solar panel to see if it is in the zero position. If the solar panel is in the zero position, the satellite has completed the state setting. If the solar panel is not in the zero position, proceed to Step 5.

[0013] Step 3: The satellite is in orbit insertion control mode. Proceed to Step 4.

[0014] Step 4: Rotate the windsurfing board in the opposite direction;

[0015] Step 5: Determine the potentiometer information on the solar panel tilting mechanism and adjust the solar panel tilting mechanism until the satellite status setting is completed.

[0016] In the above-mentioned method for satellite on-orbit status identification based on a solar panel tilting mechanism, in step one, two potentiometers are provided on each solar panel tilting mechanism, one of which is the primary potentiometer of the corresponding solar panel, and the other is the backup potentiometer of the corresponding solar panel.

[0017] In the above-mentioned method for satellite on-orbit status identification based on a solar panel tilting mechanism, the specific method for determining whether the two solar panel tilting mechanisms are in the fully deployed or clamped state in step one is as follows:

[0018] Information from four potentiometers on the two sides of the sail tilting mechanism is fused. If the output of more than two potentiometers is within the specified range, the two sides of the sail tilting mechanism is determined to be in the fully deployed state; otherwise, the two sides of the sail tilting mechanism is determined to be in the clamped state.

[0019] In the above-mentioned method for satellite on-orbit status identification based on a solar panel tilting mechanism, step two, the method for determining whether the solar panel on that side is in the zero position, is as follows:

[0020] When the output of the primary potentiometer on that side of the sail is equal to the median voltage, that side of the sail is at an absolute angle of 0 degrees, and it is determined that the sail is at the zero position; otherwise, it is determined that the sail is not at the zero position.

[0021] In the above-mentioned method for satellite on-orbit status identification based on a solar panel tilting mechanism, step four involves the solar panel rotating in the reverse direction as follows:

[0022] With a rotation speed of v1, start timing the unfolding time;

[0023] When the deployment time is greater than the time threshold t1, or the deployment time is greater than the time threshold t2 and the angle calculated by the potentiometer output is less than θdelta, the sail tilting mechanism needs to be zeroed and proceed to step five.

[0024] In the above-described method for satellite on-orbit status identification based on a solar panel tilting mechanism, the time threshold t1 is:

[0025] t1=(θini-θdelta) / v1

[0026] In the formula, θini is the initial clamping angle;

[0027] θdelta is the threshold for the zero-velocity switching angle;

[0028] The time threshold t2 is:

[0029] t2=(θini-θdelta-θmax) / v1.

[0030] In the above-mentioned method for satellite on-orbit status identification based on a solar panel tilting mechanism, the specific method for judging the potentiometer information and adjusting the solar panel tilting mechanism in step five is as follows:

[0031] When the potentiometer output is less than the median voltage, the sail tilting mechanism is reversed at a zero-return rate of -v2; when the potentiometer output is greater than the median voltage, the sail tilting mechanism is forward-rotated at a zero-return rate of v2; until the potentiometer output equals the median voltage.

[0032] In the aforementioned method for satellite on-orbit status identification based on a solar panel tilting mechanism, the potentiometer output is a calculated angle result, and the specific calculation method is as follows:

[0033] S1. The computer performs a rejection process on the full-scale voltage value of the potentiometer.

[0034] S2. The computer uses the method in S1 to perform field rejection processing on the obtained potentiometer output voltage value;

[0035] S3. Filter the full-scale voltage value of the potentiometer:

[0036] Fref1=τ*Foldref1+(1-τ)*Vref1

[0037] In the formula, Vref1 is the full-scale voltage value;

[0038] Foldref1 is the result of the previous filtering;

[0039] Fref1 represents the result of this filtering process;

[0040] T represents the filter coefficient;

[0041] S4. Filter the potentiometer output voltage value:

[0042] F1=τ*Fold1+(1-τ)*V1

[0043] In the formula, Fold1 is the result of the previous filtering;

[0044] V1 is the output voltage value;

[0045] Fold1 is the result of the previous filtering;

[0046] F1 represents the result of this filtering process;

[0047] S5. Calculate the current B-axis angle θ from the full-scale voltage value of the potentiometer and the output voltage value of the primary potentiometer.

[0048] In the above-mentioned method for satellite on-orbit status identification based on a solar panel tilting mechanism, the specific method for the field removal process in step S1 is as follows:

[0049] When the output value is less than half of the full-scale nominal value, it is determined to be an outlier; if the absolute value of the difference between the current value and the previous value is greater than a certain threshold Vdelta, the current value is determined to be an outlier and the previous value is kept unchanged; otherwise, the current value is determined to be a true value; if the difference between the data acquired in N consecutive control cycles is greater than the threshold, the current value is determined to be a true value.

[0050] In the above-mentioned method for satellite on-orbit status identification based on a solar panel tilting mechanism, the calculation method for the B-axis angle θ in step S5 is as follows:

[0051] θ=(1 / 2*Fref1-F1) / Fref1*2*θmax

[0052] In the formula, θmax represents the measurement range of the potentiometer.

[0053] The advantages of this invention compared to the prior art are:

[0054] (1) This invention proposes a method for satellite on-orbit status identification based on a solar panel tilting mechanism, which can adapt to satellites with different initial solar panel states and solves the problem of satellite on-orbit status judgment and working mode setting under conditions of no important data or ground operation.

[0055] (2) The present invention is based on the fusion of multi-potential meter information of the sail tilting mechanism, which can avoid system failure caused by the failure of a single part;

[0056] (3) The present invention adopts a full-scale filtering method, which can effectively avoid the acquisition error caused by power change or ground wire disturbance, and improve the acquisition accuracy of potentiometer. Attached Figure Description

[0057] Figure 1 This is a flowchart illustrating the satellite on-orbit status identification based on a solar panel tilting mechanism according to the present invention.

[0058] Figure 2 This is a schematic diagram of the dual potentiometer circuit of the present invention. Detailed Implementation

[0059] The present invention will be further described below with reference to the embodiments.

[0060] This invention provides a method for satellite on-orbit status identification based on a solar panel tilting mechanism. It proposes a method for satellite on-orbit status identification based on a solar panel tilting mechanism, which can adapt to satellites with different initial solar panel states. This solves the problem of satellite on-orbit status judgment and operating mode setting under conditions of no important data or ground operation, thus maintaining the overall energy security of the satellite.

[0061] Methods for identifying the on-orbit status of satellites based on the tilting mechanism of the solar panel, such as Figure 1 As shown, the specific steps include the following:

[0062] Step 1: After the onboard system fails to store data, collect information from multiple potentiometers on the tilting mechanism of the two side solar panels on the satellite to determine whether the tilting mechanism is in the fully deployed state or the pressed state. If it is in the fully deployed state, proceed to Step 2; if it is in the pressed state, proceed to Step 3.

[0063] Each side of the sailboard tilting mechanism is equipped with two potentiometers, one of which is the main potentiometer for the corresponding sailboard, and the other is the backup potentiometer for the corresponding sailboard.

[0064] The specific method for determining whether the tilting mechanism of the two side panels is in the fully deployed or clamped state is as follows:

[0065] Information from four potentiometers on the two sides of the sail tilting mechanism is fused. If the output of more than two potentiometers is within the specified range, the two sides of the sail tilting mechanism is determined to be in the fully deployed state; otherwise, the two sides of the sail tilting mechanism is determined to be in the clamped state.

[0066] Step 2: The satellite is in full attitude acquisition mode. It judges whether the solar panel on one side is in the zero position. When the solar panel on one side is in the zero position, the satellite completes the state setting. When the solar panel on one side is not in the zero position, proceed to step 5.

[0067] The method to determine whether the windsurfing panel on that side is at the zero position is as follows:

[0068] When the output of the primary potentiometer on that side of the sail is equal to the median voltage, that side of the sail is at an absolute angle of 0 degrees, and it is determined that the sail is at the zero position; otherwise, it is determined that the sail is not at the zero position.

[0069] Step 3: The satellite is in orbit insertion control mode. Proceed to Step 4.

[0070] Step 4: Reverse the rotation of the windsurfing board; the process of reversing the rotation of the windsurfing board is as follows:

[0071] With a rotation speed of v1, start timing the unfolding time;

[0072] When the deployment time is greater than the time threshold t1, or the deployment time is greater than the time threshold t2 and the angle calculated by the potentiometer output is less than θdelta, the sail tilting mechanism needs to be zeroed and proceed to step five.

[0073] The time threshold t1 is:

[0074] t1=(θini-θdelta) / v1

[0075] In the formula, θini is the initial clamping angle;

[0076] θdelta is the threshold for the zero-velocity switching angle;

[0077] The time threshold t2 is:

[0078] t2=(θini-θdelta-θmax) / v1.

[0079] Step 5: Determine the potentiometer information on the solar panel tilting mechanism and adjust the solar panel tilting mechanism until the satellite status setting is completed.

[0080] The specific method for judging the potentiometer information and adjusting the sail tilting mechanism is as follows:

[0081] When the potentiometer output is less than the median voltage, the sail tilting mechanism is reversed at a zero-return rate of -v2; when the potentiometer output is greater than the median voltage, the sail tilting mechanism is forward-rotated at a zero-return rate of v2; until the potentiometer output equals the median voltage.

[0082] In this invention, the output of the potentiometer is a calculated angle result, and the specific calculation method is as follows:

[0083] S1. The computer performs out-of-range processing on the acquired full-scale voltage value of the potentiometer; the specific method for out-of-range processing is as follows:

[0084] When the output value is less than half of the full-scale nominal value, it is determined to be an outlier; if the absolute value of the difference between the current value and the previous value is greater than a certain threshold Vdelta, the current value is determined to be an outlier and the previous value is kept unchanged; otherwise, the current value is determined to be a true value; if the difference between the data acquired in N consecutive control cycles is greater than the threshold, the current value is determined to be a true value.

[0085] S2. The computer uses the method in S1 to perform field rejection processing on the obtained potentiometer output voltage value.

[0086] S3. Filter the full-scale voltage value of the potentiometer:

[0087] Fref1=τ*Foldref1+(1-τ)*Vref1

[0088] In the formula, Vref1 is the full-scale voltage value;

[0089] Foldref1 is the result of the previous filtering;

[0090] Fref1 represents the result of this filtering process;

[0091] T represents the filter coefficient;

[0092] S4. Filter the potentiometer output voltage value:

[0093] F1=τ*Fold1+(1-τ)*V1

[0094] In the formula, Fold1 is the result of the previous filtering;

[0095] V1 is the output voltage value;

[0096] Fold1 is the result of the previous filtering;

[0097] F1 represents the result of this filtering process;

[0098] S5. Calculate the current B-axis angle θ from the full-scale voltage value of the potentiometer and the output voltage value of the primary potentiometer. The calculation method for the B-axis angle θ is as follows:

[0099] θ=(1 / 2*Fref1-F1) / Fref1*2*θmax

[0100] In the formula, θmax represents the measurement range of the potentiometer.

[0101] This invention relates to a method for identifying the on-orbit status of satellites based on a solar panel tilting mechanism, the implementation logic of which is as follows: Figure 1 As shown, the steps are as follows:

[0102] 1) If the subsystem determines that the recovery of important data has failed, it collects multi-potential meter information of the sail tilting mechanism and performs information fusion; if more than half of the multiple angle information are within the specified range, it proceeds to step 2); otherwise, it proceeds to step 3).

[0103] The windsurf tilting mechanism (B-axis) uses a potentiometer as a position sensor to provide the absolute angular position information of the tilting mechanism. The windsurf tilting mechanism is divided into +Y and -Y wings. The single-sided B-axis windsurf tilting mechanism uses a main and backup dual potentiometer to increase reliability. Figure 2 As shown.

[0104] Where Vref1 and Vref2 are the power supply voltages of potentiometer 1 and potentiometer 2, respectively, and V1 and V2 are the measurement outputs of potentiometers.

[0105] When the potentiometer output voltage is the median of the supply voltage, the sail tilting mechanism is at an absolute angle of 0 degrees; when the sail tilting mechanism rotates forward from the zero position, the potentiometer output voltage gradually decreases from the median voltage; when the sail tilting mechanism rotates backward from the zero position, the potentiometer output voltage gradually increases from the median voltage.

[0106] The potentiometer measures an absolute angle in the range of [-θmax, θmax]. Based on the potentiometer's characteristics, we know that:

[0107] a) When V1 = Vref1 / 2, the driving tilting mechanism is at an absolute angle of 0 degrees;

[0108] b) When V1 = 0V, the driving tilting mechanism is at the position θmax where the absolute angle is at its maximum in the positive direction;

[0109] c) When V1 = Vref1, the driving tilting mechanism is at the position with the maximum negative absolute angle -θmax;

[0110] The output characteristics of potentiometer 2 are consistent with the above description.

[0111] If two or more of the four angle information (+Y wing main potentiometer, backup potentiometer, and -Y wing side main potentiometer, backup potentiometer) are within the specified range, the sail tilting mechanism is set to fully deployed; otherwise, the sail tilting mechanism is set to pressed.

[0112] 2) Set the solar panel tilting mechanism to fully deployed, switch to full attitude capture mode, and determine whether the solar panel is in the zero position. When the potentiometer output is equal to the median voltage, the solar panel tilting mechanism is at an absolute angle of 0 degrees. If the solar panel is in the zero position, the satellite has completed the state setting; if the solar panel is not in the zero position, an emergency zeroing of the solar panel is required, and proceed to step 5).

[0113] 3) Set the sail tilting mechanism to the clamped state, switch to track section control mode, and proceed to step 4);

[0114] 4) Re-enter the initial deployment process of the windsurfing board, set the working mode of the windsurfing tilting mechanism to "reverse rotation mode" and the rotation speed to v1, and start timing the deployment time; when the deployment time is greater than the time threshold t1 or (the deployment time is greater than the time threshold t2 and the angle calculated by the potentiometer output is less than θdelta), reset the windsurfing tilting mechanism to zero and proceed to step 5).

[0115] The windsurfing tilting mechanism uses a stepper motor speed pulse count as a reference when controlling forward or reverse rotation, and a potentiometer as the zero-position reference in zero-point mode. θdelta is the zero-point speed switching angle. When the angle value is greater than θdelta, a higher rotation rate v1 is used to control the windsurfing tilting mechanism to reverse efficiently. When the angle value is less than θdelta, a lower rotation rate v2 is used to achieve higher zero-point accuracy.

[0116] 5) Set the working mode of the solar panel tilting mechanism to "zero mode" and collect the potentiometer information of the solar panel tilting mechanism to complete the zeroing process; when the potentiometer output is less than the median voltage, control the solar panel tilting mechanism to reverse at the zeroing rate -v2; when the potentiometer output is greater than the median voltage, control the solar panel tilting mechanism to rotate forward at the zeroing rate v2; until the potentiometer output is equal to the median voltage; then the satellite completes the status setting.

[0117] Example

[0118] The specific implementation steps of this patent are as follows:

[0119] Condition 1: If the satellite is launched without power, and is powered on for the first time after separation from the rocket, the solar panels are actually in a compressed state, i.e., at 180 degrees.

[0120] 1) If the subsystem determines that the recovery of important data has failed, it will collect four remote analog telemetry signals from the +Y wing main potentiometer, +Y wing backup potentiometer, -Y wing main potentiometer and -Y wing backup potentiometer of the solar panel tilting mechanism, and the satellite will autonomously determine the satellite's on-orbit status.

[0121] The current angle value of the sail tilting mechanism is calculated by the +Y wing primary potentiometer, +Y wing backup potentiometer, -Y wing primary potentiometer, and -Y wing backup potentiometer, respectively, using a full-scale filtering method.

[0122] a) Fref1 = τ * Foldref1 + (1 - τ) * Vref1; (convergence after M cycles). Where Vref1 is the full-scale voltage value; Foldref1 is the previous filtering result; Fref1 is the current filtering result; in this embodiment, τ = 0.9, M = 20;

[0123] b) F1 = τ * Fold1 + (1 - τ) * V1, where Fold1 is the result of the previous filtering; V1 is the output voltage value; Fold1 is the result of the previous filtering; F1 is the result of the current filtering; in this embodiment, τ = 0.9, M = 20;

[0124] c) Calculate the current B-axis angle from the full-scale voltage value of the potentiometer and the output voltage value of the primary potentiometer: θ=(1 / 2*Fref1-F1) / Fref1*2*θmax; where θmax is the measurement range of the potentiometer, and in this embodiment, θmax=90 degrees;

[0125] d) If two or more of the four angle values ​​are between [-(θmax-θdelta), (θmax-θdelta], then set the +Y wing sail deployment state and the -Y wing sail deployment state to complete deployment; otherwise, set the +Y wing sail deployment state and the -Y wing sail deployment state to compressed. In this embodiment, θmax is 90 degrees and θdelta is 5 degrees, that is, it is determined that two or more of the four angle values ​​are between [-85, 85].

[0126] According to condition 1, the solar panel is actually in a compressed state, and all four angle values ​​should not be between [-85, 85]. The onboard autonomous +Y wing solar panel deployment state and the -Y wing solar panel deployment state are compressed; proceed to step 3);

[0127] 3) Set the sail tilting mechanism to the clamped state, switch to track section control mode, and proceed to step 4);

[0128] 4) Re-enter the initial deployment process of the windsurfing board, set the working mode of the windsurfing tilting mechanism to "reverse rotation mode" and the rotation speed to v1, and start timing the deployment time; when the deployment time is greater than the time threshold t1 or (the deployment time is greater than the time threshold t2 and the angle calculated by the potentiometer output is less than θdelta), reset the windsurfing tilting mechanism to zero and proceed to step 5).

[0129] Where t1 = (θini - θdelta) / v1, θini is the initial clamping angle, and θdelta is the zero-speed switching angle threshold; t2 = (θini + θdelta - θmax) / v1; in this embodiment, v1 is 1 degree / second, θini is 180 degrees, θdelta is 5 degrees, t1 is 175 seconds, and t2 is 95 seconds;

[0130] 5) Set the working mode of the sailboard tilting mechanism to "zero mode" and collect the potentiometer information of the sailboard tilting mechanism to complete the zeroing process; when the potentiometer output is less than the median voltage, control the sailboard tilting mechanism to reverse at a zeroing rate of -v2; when the potentiometer output is greater than the median voltage, control the sailboard tilting mechanism to rotate forward at a zeroing rate of v2; until the potentiometer output equals the median voltage. In this embodiment, v2 is 0.1 degrees / second.

[0131] Condition 2: During normal operation of the satellite, an abnormal power outage occurs due to reasons such as the load. After the satellite is powered on again, the solar panels are actually in the fully deployed state.

[0132] 1) If the subsystem determines that the recovery of important data has failed, it will collect four remote analog telemetry signals from the +Y wing main potentiometer, +Y wing backup potentiometer, -Y wing main potentiometer and -Y wing backup potentiometer of the solar panel tilting mechanism, and the satellite will autonomously determine the satellite's on-orbit status.

[0133] The current angle value of the sail tilting mechanism is calculated by the +Y wing primary potentiometer, +Y wing backup potentiometer, -Y wing primary potentiometer, and -Y wing backup potentiometer, respectively, using a full-scale filtering method.

[0134] a) Fref1 = τ * Foldref1 + (1 - τ) * Vref1; (convergence after M cycles). Where Vref1 is the full-scale voltage value; Foldref1 is the previous filtering result; Fref1 is the current filtering result; in this embodiment, τ = 0.9, M = 20;

[0135] b) F1 = τ * Fold1 + (1 - τ) * V1, where Fold1 is the result of the previous filtering; V1 is the output voltage value; Fold1 is the result of the previous filtering; F1 is the result of the current filtering; in this embodiment, τ = 0.9, M = 20;

[0136] c) Calculate the current B-axis angle from the full-scale voltage value of the potentiometer and the output voltage value of the primary potentiometer: θ=(1 / 2*Fref1-F1) / Fref1*2*θmax; where θmax is the measurement range of the potentiometer, and in this embodiment, θmax=90 degrees;

[0137] d) If two or more of the four angle values ​​are between [-(θmax-θdelta), (θmax-θdelta], then set the +Y wing sail deployment state and the -Y wing sail deployment state to complete deployment; otherwise, set the +Y wing sail deployment state and the -Y wing sail deployment state to compressed. In this embodiment, θmax is 90 degrees and θdelta is 5 degrees, that is, it is determined that two or more of the four angle values ​​are between [-85, 85].

[0138] According to condition 2, the solar panel is actually in the fully deployed state, and all four angle values ​​should be between [-85, 85]. The onboard autonomous +Y wing solar panel deployment state and the -Y wing solar panel deployment state are both fully deployed; proceed to step 2);

[0139] 2) Set the solar panel tilting mechanism to fully deployed, switch to full attitude capture mode, and determine if the solar panel is in the zero position. When the potentiometer output equals the median voltage, V1 = Vref1 / 2, the solar panel tilting mechanism is at an absolute angle of 0 degrees. If the solar panel is in the zero position, the satellite status setting is complete; if the solar panel is not in the zero position, an emergency zeroing of the solar panel is required, proceeding to step 5).

[0140] 5) Set the working mode of the sailboard tilting mechanism to "zero mode" and collect the potentiometer information of the sailboard tilting mechanism to complete the zeroing process; when the potentiometer output is less than the median voltage, control the sailboard tilting mechanism to reverse at a zeroing rate of -v2; when the potentiometer output is greater than the median voltage, control the sailboard tilting mechanism to rotate forward at a zeroing rate of v2; until the potentiometer output equals the median voltage. In this embodiment, v2 is 0.1 degrees / second.

[0141] This invention proposes a method for satellite on-orbit status identification based on a solar panel tilting mechanism. It is applicable to satellites with special initial solar panel states, such as those that are not powered on during launch or fail to recover important data after reset, thus enabling autonomous on-orbit status identification.

[0142] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A method for satellite on-orbit status identification based on a solar panel tilting mechanism, characterized in that: The method comprises the following steps: Step 1: after the data storage of the on-board system fails, the information of multiple potentiometers on the 2-side sailboard tilting mechanism is collected, and it is judged whether the 2-side sailboard tilting mechanism is in an unfolding completion state or a compression state; when it is in the unfolding completion state, step 2 is entered; when it is in the compression state, step 3 is entered; Step 2: the satellite is in a full-attitude capture mode, and it is judged whether the single-side sailboard is in a zero position; when the single-side sailboard is in the zero position, the satellite state setting is completed; when the single-side sailboard is not in the zero position, step 5 is entered; Step 3: the satellite is in an orbit-entry control mode, and step 4 is entered; Step 4: the sailboard is reversely rotated; The process of reversely rotating the sailboard is as follows: The rotation rate is v1, and the unfolding time is started to be counted; When the unfolding time is greater than a time threshold t1, or the unfolding time is greater than a time threshold t2 and the angle calculated according to the output of the potentiometer is less than theta delta, the sailboard tilting mechanism needs to be zeroed, and step 5 is entered; theta delta is a zeroing speed switching angle threshold; Step 5: the information of the potentiometer on the sailboard tilting mechanism is judged, and the sailboard tilting mechanism is adjusted until the satellite state setting is completed.

2. The method of claim 1, wherein the method is characterized by: In step 1, two potentiometers are arranged on each side of the sailboard tilting mechanism, wherein one potentiometer is a main potentiometer corresponding to the sailboard, and the other potentiometer is a backup potentiometer corresponding to the sailboard.

3. The method of claim 2, wherein the method further comprises: determining the satellite's in-orbit state based on the sailboard tilt mechanism. 3 In step 1, the specific method for judging whether the 2-side sailboard tilting mechanism is in an unfolding completion state or a compression state is as follows: The information fusion is performed on the information of the four potentiometers of the 2-side sailboard tilting mechanism, and when the output results of more than two potentiometers are within a specified range, it is judged that the 2-side sailboard tilting mechanism is in the unfolding completion state; otherwise, it is judged that the 2-side sailboard tilting mechanism is in the compression state.

4. The method of claim 3, wherein the method is characterized by: In step 2, the method for judging whether the single-side sailboard is in a zero position is as follows: When the output result of the main potentiometer of the single-side sailboard is equal to a median voltage, it is judged that the single-side sailboard is in the zero position, because the single-side sailboard is in an absolute angle of 0 degrees; Otherwise, it is judged that the single-side sailboard is not in the zero position.

5. The method of claim 4, wherein the method is characterized by: The time threshold t1 is as follows: t1=(theta ini-theta delta) / v1 In the formula, theta ini is an initial compression angle. The time threshold t2 is as follows: t2=(theta ini-theta delta-theta max) / v1 In the formula, theta max is a measurement range of the potentiometer.

6. The method of claim 5, wherein the method further comprises: determining the satellite in-orbit state based on the sailboard tilt mechanism. In step 5, the specific method for judging the information of the potentiometer and adjusting the sailboard tilting mechanism is as follows: When the output result of the potentiometer is less than the median voltage, the sailboard tilting mechanism is controlled to be reversely rotated at a zeroing rate-v2; when the output result of the potentiometer is greater than the median voltage, the sailboard tilting mechanism is controlled to be forwardly rotated at a zeroing rate v2; until the output result of the potentiometer is equal to the median voltage.

7. The method of claim 6, wherein the method further comprises: determining the satellite in-orbit state based on the sailboard tilt mechanism. The output result of the potentiometer is an angle calculation result, and the specific calculation method is as follows: S1: the computer performs outlier processing on the obtained full-scale voltage value of the potentiometer; S2: the computer performs outlier processing on the obtained output voltage value of the potentiometer by using the method of S1; S3: the full-scale voltage value of the potentiometer is subjected to filtering processing: Fref1=tau*Foldref1+(1-tau)*Vref1 In the formula, Vref1 is a full-scale voltage value. Foldref1 is the last filtering result; Fref1 is the current filtering result; T is the filtering coefficient; S4, filtering the potentiometer output voltage value: F1 = τ * Fold1 + (1-τ) * V1 In the formula, Fold1 is the last filtering result; V1 is the output voltage value; Fold1 is the last filtering result; F1 is the current filtering result; S5, calculate the current angle from the full-scale voltage value of the potentiometer and the output voltage value of the main potentiometer .

8. The method of claim 7, wherein the method further comprises: determining the satellite in-orbit state based on the sailboard tilt mechanism. In S1, the specific method of the outlier processing is: ​ When the output value is less than half of the full-scale nominal value, it is determined as an outlier; if the absolute value of the difference between the current value and the last value is greater than a certain threshold Vdelta, the current value is determined as an outlier, the last value is maintained, otherwise the current value is determined as a true value; If the difference of the data obtained in the continuous N control periods is greater than the threshold, the current value is determined as a true value.

9. The method of claim 8, wherein the method further comprises: determining the satellite in-orbit state based on the sailboard tilt mechanism. In the S5, the angle is calculated as follows: ​ = (1 / 2 * Fref1 - F1) / Fref1 * 2 * θmax.

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