Two-degree-of-freedom solar wing discontinuous rotation control method and system

Abstract

The embodiment of the application discloses a two-degree-of-freedom discontinuous rotation control method and system for a solar wing, the discontinuous rotation control method comprises the following steps: obtaining the angle between a sun vector and the normal of a solar wing along the direction of orbit operation and the angle between the sun vector and the normal of the solar wing in the direction perpendicular to the orbit plane, so as to obtain the angle between the sun vector and the normal of the solar wing in a first coordinate projection plane and a second coordinate projection plane, and further obtain the driving target instruction of a first control shaft and a second control shaft; determining the position of the satellite, if the satellite is in a sunlit area, driving the first control shaft to make the sun vector coincide with the normal of the solar wing in the first coordinate projection plane, then driving the second control shaft to adjust the position angle of the solar wing relative to the orbit plane, so that the normal of the solar wing coincides with the sun vector in the second coordinate projection plane; if the satellite is in a shadow area, driving the first control shaft to execute a rotation instruction.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of spacecraft control. More particularly, it relates to a two-degree-of-freedom solar wing discontinuous rotation control method and system. BACKGROUND

[0002] With the establishment of satellite constellation, in order to realize the networking coverage of global communication and remote sensing, a number of satellites need to be arranged in a non-sun synchronous orbit plane. Due to the arrangement of satellites at a certain inclination angle, the angle between the sun vector and the orbit plane changes periodically. Therefore, the solar cell with fixed installation mode cannot ensure that it can always be aligned with the sun, and the satellite energy in the sunlight area cannot be continuously supplied. SUMMARY

[0003] The purpose of the present application is to provide a two-degree-of-freedom solar wing discontinuous rotation control method and system to solve at least one of the problems in the related art.

[0004] To achieve the above purpose, the present application adopts the following technical scheme:

[0005] The first aspect of the present application provides a two-degree-of-freedom solar wing discontinuous rotation control method, comprising,

[0006] Obtaining the angle between the sun vector and the normal direction of the solar wing along the orbit running direction and the angle between the sun vector and the normal direction of the solar wing in the direction perpendicular to the orbit plane, to obtain the angle between the sun vector and the normal direction of the solar wing in the first coordinate projection plane and the second coordinate projection plane, and further obtain the driving target command of the first control axis and the second control axis;

[0007] Determining the position of the satellite, if it is in the sunlight area, driving the first control axis according to the driving target command so that the sun vector coincides with the normal direction of the solar wing in the first coordinate projection plane, and at the same time, driving the second control axis to adjust the position angle of the solar wing relative to the orbit plane, so that the normal direction of the solar wing coincides with the sun vector in the second coordinate projection plane, and driving the first control axis to stop rotating at the boundary of the shadow area;

[0008] If it is in the shadow area, the first control axis is driven to execute the rotation command to make the first control axis reach the target angle before reaching the sunlight area.

[0009] Optionally, the first control axis is used to realize the rotation of the solar wing in the direction perpendicular to the orbit plane, and the second control axis is used to realize the rotation of the solar wing in the direction parallel to the orbit plane.

[0010] The first control axis and the second control axis comprise a non-conductive slip ring.

[0011] Optionally, the obtaining the angles of the sun vector with respect to the normal of the solar wing in the orbit running direction and the normal of the solar wing in the direction perpendicular to the orbit plane comprises:

[0012] obtaining satellite orbit position information, and then obtaining the sun vector in the satellite orbit coordinate system and the position relationship of the sun vector with respect to the satellite orbit coordinate system;

[0013] converting the sun vector in the satellite orbit coordinate system into the sun vector in the solar wing coordinate system according to the installation coordinate system matrix of the two-degree-of-freedom solar wing with respect to the satellite, and obtaining the azimuth of the sun vector in the solar wing coordinate system;

[0014] obtaining the position relationship of the actual position of the solar wing with respect to the solar wing coordinate system according to the position sensors of the first control axis and the second control axis of the two-degree-of-freedom solar wing;

[0015] obtaining the angles of the sun vector with respect to the normal of the solar wing in the orbit running direction and the normal of the solar wing in the direction perpendicular to the orbit plane according to the first projection and the second projection of the sun vector in the solar wing coordinate system.

[0016] Optionally, the method further comprises obtaining the orbit height of the satellite and the inclination of the orbit plane according to the satellite orbit position information, and obtaining the angle range of the shadow area and the sunlit area.

[0017] Optionally, the method further comprises updating the target normal of the solar wing every other instruction calculation period, and updating the target instruction according to the current target normal of the solar wing, the target instruction comprising the target angle of the first control axis and the target angle of the second control axis.

[0018] Optionally, the target angle AAng of the first control axis and the target angle BAng of the second control axis are calculated according to formula (1) and formula (2):

[0019] AAng = -sign(SunVec_Ass(1)) * (Pi - acos(Cos_Ang)) …… (1)

[0020] BAng = -asin(SunVec_Ass(2) / sqrt(SunVec_Ass(3) ^ 2 + SunVec_Ass(2) ^ 2 + SunVec(1) ^ 2))

[0021] ……(2)

[0022] Wherein, SunVec_Ass(1) is the component of the sun vector in the X-axis direction of the solar wing coordinate system, SunVec_Ass(2) is the component of the sun vector in the Y-axis direction of the solar wing coordinate system, SunVec_Ass(3) is the component of the sun vector in the Z-axis direction of the solar wing coordinate system, and Cos_Ang is the included angle between the projection of the sun vector on the first coordinate projection plane of the solar wing coordinate system and the Z-axis.

[0023] Optionally, the angular acceleration of the first control shaft when tracking the sun vector in the sunlit area is "0.005° / s 2 ~0.015° / s 2 ".

[0024] The angular acceleration of the first control shaft when executing the rotation instruction in the shadow area is "0.03° / s 2 ~0.5° / s 2 ".

[0025] The second aspect of the application provides a two-degree-of-freedom discontinuous rotation control system for a solar wing, characterized in that,

[0026] An included angle calculation module is configured to calculate the included angle between the sun vector and the normal direction of the solar wing along the orbit running direction and the included angle between the sun vector and the normal direction of the solar wing in the direction perpendicular to the orbit plane.

[0027] A solar wing driving module is configured to calculate the error of the normal direction of the solar wing in the first coordinate projection plane and the second coordinate projection plane based on the included angle between the sun vector and the normal direction of the solar wing along the orbit running direction and the included angle between the sun vector and the normal direction of the solar wing in the direction perpendicular to the orbit plane, calculate and output the driving target instruction of the first control shaft and the second control shaft based on the error, and make the normal direction of the solar wing coincide with the sun vector.

[0028] Meanwhile, the normal vector of the solar wing movement process is updated in real time, and the calculation of the included angle is updated in real time.

[0029] If the satellite is in the sunlit area, the first control shaft is driven to track the sun vector at the orbit angular velocity, the second control shaft is driven to adjust the position angle of the solar wing relative to the orbit plane, so that the normal direction of the solar wing coincides with the sun vector, and the first control shaft is driven to stop rotating at the boundary of the shadow area.

[0030] If the satellite is in the shadow area, the first control shaft is driven to execute the rotation instruction so that the first control shaft reaches the target angle before the satellite exits the shadow area.

[0031] The beneficial effects of the application are as follows:

[0032] The embodiment provides a double-freedom discontinuous rotation control method of a solar wing, the solar wing is controlled to only track the sun in a sunlit area and rotate in a non-sunlit area, continuous supply of satellite energy in the sunlit area is realized, discontinuous rotation of the solar wing is realized, control efficiency and precision are improved, meanwhile, structural reliability is improved and production cost is reduced, and overall energy consumption is saved. BRIEF DESCRIPTION OF DRAWINGS

[0033] The specific embodiment of the application will be further described in detail below with reference to the drawings.

[0034] Figure 1 A structure diagram of a double-freedom solar wing according to one embodiment of the application is shown.

[0035] Figure 2 A flow chart of a double-freedom discontinuous rotation control method of a solar wing according to one embodiment of the application is shown.

[0036] Figure 3 A schematic diagram of a shadow area of a satellite according to one embodiment of the application is shown.

[0037] Figure 4 A motion control tracking curve of a target instruction and a first control axis according to one embodiment of the application is shown. DETAILED DESCRIPTION

[0038] In order to more clearly illustrate the application, the application will be further described below with reference to the embodiments and the drawings. Similar components are denoted by the same reference signs in the drawings. Those skilled in the art should understand that the specific description below is illustrative rather than limiting, and should not limit the protection scope of the application.

[0039] In order to realize continuous supply of energy of a satellite with a certain inclination angle, the satellite generally adopts a double-freedom solar wing, the solar wing is controlled to track a sun vector along an orbital plane direction at an orbital angular velocity and a periodic included angle between the sun and the orbital plane in a direction perpendicular to the orbital plane, so that the normal vector of the solar wing is coincident with the sun vector. However, the inventor finds that the current solar wing driving system all adopts a conductive slip ring device, the above control method can realize 360° continuous tracking of the sun vector in double freedom, that is, the normal of the solar wing tracks the sun vector in real time even in a non-sunlit area, but the friction pair in the conductive slip ring greatly increases the complexity of the driving structure, reduces the system reliability and service life, and the sun vector is still tracked in real time in the non-sunlit area, which causes unnecessary energy consumption.

[0040] The application provides a double-freedom solar wing schematic diagram for an inclined orbit satellite, as shown in Figure 1 The solar wing of the dragonfly structure is installed on the -Z bThe A-axis and the B-axis are the double-degree-of-freedom driving systems of the solar wing, and the A-axis and the B-axis are defined as the first control axis and the second control axis respectively, the solar wing is divided into a +Y solar wing and a -Y solar wing, and the +Y solar wing and the -Y solar wing are defined as a first solar wing and a second solar wing respectively, the first solar wing and the second solar wing are opposite to the X b F b Z b plane symmetry, wherein the second control axis drives the first solar wing and the second solar wing to rotate around the Z b axis, and the first control axis synchronously drives the first solar wing and the second solar wing to rotate around the Y b axis; wherein the XYZ coordinate system is a solar wing coordinate system; X b F b Z b coordinate system is a satellite body coordinate system.

[0041] The solar wing control adopts a method of synchronously and real-timely controlling the first control axis and the second control axis of the solar wing, so that the normal direction of the solar wing is aligned to the solar vector.

[0042] It should be noted that the first control axis and the second control axis include a non-conductive slip ring, and the friction pair in the conductive slip ring has the characteristics of reducing the complexity of the driving structure and improving the system reliability and service life.

[0043] One embodiment of the present application provides a double-degree-of-freedom solar wing discontinuous rotation control method, as shown in the accompanying drawings, comprising, Figure 2

[0044] obtaining the angle between the solar vector and the normal direction of the solar wing along the direction of orbit operation and the angle between the solar vector and the normal direction of the solar wing in the direction perpendicular to the orbit plane, so as to obtain the angles between the solar vector and the normal direction of the solar wing projected on the first coordinate projection plane ZOX and the second coordinate projection plane ZOY, and obtaining the driving target instructions of the first control axis and the second control axis according to the angles between the solar vector and the normal direction of the solar wing projected on the first coordinate projection plane ZOX and the second coordinate projection plane ZOY;

[0045] determining the position of the satellite, if the satellite is in the sunlit area, driving the first control axis according to the driving target instructions so that the solar vector and the normal direction of the solar wing coincide on the first coordinate projection plane ZOX, and then tracking and aligning the solar vector in real time at the orbit angular velocity, at the same time, driving the second control axis to adjust the position angle of the solar wing relative to the orbit plane, so that the normal direction of the solar wing and the solar vector coincide on the second coordinate projection plane ZOY, and driving the first control axis to stop rotating at the boundary of the shadow area;

[0046] if the satellite is in the shadow area, driving the first control axis to execute the rotation instruction so that the first control axis reaches the target angle before reaching the sunlit area.

[0047] ​The embodiment controls the first solar wing and the second solar wing synchronously to make the double-degree-of-freedom solar wing track the sun only in the sunlit area and rotate in the shadow area, realizes continuous supply of satellite energy in the sunlit area, realizes discontinuous rotation of the solar wing, improves the structural life and reduces the production cost and the overall energy consumption.

[0048] In a specific embodiment, the first control shaft and the second control shaft perform circumferential motion and can reach a target angle in a forward direction or a reverse direction, and the embodiment generates a driving target instruction according to a minimum motion angle control strategy to reach the target angle.

[0049] In a specific embodiment, the obtaining of the angles between the sun vector and the normal of the solar wing in the direction along the orbit running direction and in the direction perpendicular to the orbit plane comprises:

[0050] The satellite orbit position information is obtained, and then the sun vector in the satellite orbit coordinate system and the positional relationship of the sun vector relative to the satellite orbit coordinate system are obtained;

[0051] The sun vector in the satellite orbit coordinate system is converted into the sun vector in the solar wing coordinate system according to the installation coordinate system matrix of the double-degree-of-freedom solar wing relative to the satellite, and the azimuth of the sun vector in the solar wing coordinate system is obtained.

[0052] The actual position of the solar wing relative to the solar wing coordinate system is obtained according to the position sensors of the first control shaft and the second control shaft of the double-degree-of-freedom solar wing.

[0053] The angles between the sun vector and the normal of the solar wing in the direction along the orbit running direction and in the direction perpendicular to the orbit plane are obtained according to the first projection and the second projection of the sun vector in the solar wing coordinate system, wherein the orbit is an inclined orbit of the satellite.

[0054] In a specific embodiment, the azimuth information of the sun vector on the sensor body can be obtained according to the sun sensor, the azimuth information of the sun vector on the satellite body can be obtained according to the sun sensor and the satellite installation coordinate system, and the azimuth of the sun vector in the solar wing coordinate system can be obtained according to the installation relationship matrix of the double-degree-of-freedom solar wing and the satellite.

[0055] In a specific embodiment, the control method further comprises:

[0056] When the satellite is in the sunlit area, the target normal of the solar wing is updated every other instruction calculation period, the target instruction is updated according to the current solar wing target normal, and the target instruction comprises a target angle of the first control shaft and a target angle of the second control shaft, wherein

[0057] The instruction calculation period is 250 ms.

[0058] In a specific embodiment, the target angle AAng of the first control axis and the target angle BAng of the second control axis are calculated according to formulas (1) and (2):

[0059] AAng=-sign(SunVec_Ass(1))*(Pi-acos(Cos_Ang))……(1)

[0060] BAng=-asin(SunVec_Ass(2) / sqrt(SunVec_Ass(3)^2+SunVec_Ass(2)^2+SunVec_Ass(1)^2))……(2)

[0061] Wherein, SunVec_Ass(1) is the X-axis component of the solar vector in the solar wing coordinate system, SunVec_Ass(2) is the Y-axis component of the solar vector in the solar wing coordinate system, SunVec_Ass(3) is the Z-axis component of the solar vector in the solar wing coordinate system, Cos_Ang is the angle between the projection of the solar vector onto the first coordinate projection plane of the solar wing coordinate system and the Z-axis, the sign() function is used to return 0, 1, or -1 depending on whether the value in the parentheses is 0, positive, or negative, the acos() function is used to calculate the arccosine value of the parameter, the asin() function is used to calculate the arcsine value of the parameter, and the sqrt() function is used to calculate the square root of the parameter.

[0062] In one specific embodiment, the method further includes:

[0063] Based on the satellite orbital position information, the satellite's orbital altitude and the inclination of the orbital plane are obtained, thus determining the angular range of the shadow and sunlight areas.

[0064] The following is a specific example for explanation, such as Figure 3 The diagram shows the shadow area where the satellite is located. According to the relationship between the sky and the earth, when the first control axis is at 0°, the solar vector coincides with the normal of the solar array coordinate system. Therefore, the rotation angle of the first control axis can correspond to the angle of the shadow area. Thus, the position of the first control axis at 180° is determined to be the center of the Earth-Sun shadow area. Based on the Earth-Sun and the orbit, the angle range of the shadow area is determined to be 160° to -160°. Correspondingly, the angle range of the sunlit area is -160° to 160°.

[0065] In one specific embodiment, when the satellite is in the shadow area, the first control axis is driven to execute a rotation command so that the first control axis reaches the target angle, i.e., the other boundary of the shadow area.

[0066] In one specific embodiment, the first control shaft reaches the edge of the shadow area, and deceleration stop control is performed in advance by a predetermined angle, the predetermined angle being 0.5°-1°, so that the angle of the first control shaft when stopped does not exceed the boundary of the shadow area, and in addition, the first control shaft reaches the other boundary of the satellite shadow area in advance by 1-2 min, and waits for the satellite to exit the shadow area.

[0067] In one specific embodiment, the angular acceleration of the first control shaft when tracking the sun vector in the sunlit area is "0.005° / s 2 -0.015° / s 2 ".

[0068] In one specific embodiment, the satellite is located in the sunlit area, the first control shaft is driven to track the sun vector at the orbital angular velocity, and the second control shaft is driven to adjust the position angle of the solar wing relative to the orbital plane, so that the solar cell array receives the sunlit in the largest range; when the first control shaft actually rotates to 159.5°, it is about to reach the boundary of the shadow area, the first control shaft is controlled to brake at a braking acceleration, the driving braking acceleration of the first control shaft is 0.005° / s 2 , according to kinematics, the rotation angle of the first control shaft when braking at the orbital angular velocity is 0.4°, and the solar wing stops at the boundary of the 159.9° shadow area; then the first control shaft stops rotating; when the target command value reaches 160°, the first control shaft starts to execute the command of reaching the-160° position angle, i.e. the command of reaching the other boundary of the shadow area, and performs a turn.

[0069] In one specific embodiment, the satellite enters the shadow area from the 160° position, and the turn command is to make the first control shaft reach the-160° position.

[0070] The angular acceleration of the first control shaft when executing the turn command in the shadow area is "0.03° / s 2 -0.5° / s 2 ".

[0071] In one specific embodiment, the first control shaft turns quickly, accelerates to 0.6° / s from 0.05° / s 2 , maintains a constant speed of 0.6° / s from 0.6° / s to-0.05° / s 2 , and decelerates; i.e. the motion law is designed as 0° / s-0.6° / s-0° / s; the turn time is 10.9 min to reach the-160° boundary of the shadow area; the satellite needs 11.7 min to pass through the 160°--160° shadow area at the orbital angular velocity; the first control shaft and the solar wing wait for the satellite to exit the shadow area in advance by about 1 min, and wait for the sun.

[0072] In this embodiment, the first control axis has a smaller angular acceleration when tracking the solar vector in the sunny area, thereby reducing the interference torque on the satellite during the driving process. In the shadow area, the first control axis has a larger angular acceleration, which allows it to quickly reach the target position and wait for the satellite to emerge from the shadow area in advance.

[0073] In one specific embodiment, when the satellite exits the -160° shadow boundary, the first control axis initiates target tracking angle control to track the solar vector in the sunlit area.

[0074] In one specific embodiment, such as Figure 4 The diagram shows the target command and the motion control tracking curve of the first control axis. Based on the tracking characteristics, it can be divided into four parts: I1, I2, I3, and I4. Initially at time 0, the current position of the A-axis is 160°, and the target command is -70°, indicating a significant error between the target command and the actual position angle. In stage I1, the A-axis is controlled by a velocity command to track the target at a large angle, ensuring that the normal vector of the solar array coincides with the solar vector. At time t1, the target command is successfully tracked. In stage I2, the satellite is in the sunlight zone, and the A-axis tracks the solar vector using its orbital angular velocity; at this time, the normal vector of the solar array coincides with the solar vector. In stage I3, when the A-axis motion reaches 159.5°, braking begins. When the calculated target command is greater than 160°, the A-axis begins to rotate at time t2, reaching the target position at time t3. In stage I4, at time t4, the satellite leaves the shadow zone, and the solar array re-tracks and orients itself towards the sun based on the new solar target position.

[0075] One embodiment of this application provides a two-degree-of-freedom solar array discontinuous rotation control system, comprising:

[0076] include,

[0077] The angle calculation module is used to calculate the angle between the solar vector and the normal to the solar array along the orbital direction, as well as the angle between the solar vector and the normal to the solar array in the direction perpendicular to the orbital plane.

[0078] The solar wing drive module is used to calculate the error of the solar wing normal in the first coordinate projection plane and the second coordinate projection plane based on the angle between the solar vector in the direction of orbital operation and the solar wing normal, and the angle between the solar vector in the direction perpendicular to the orbital plane and the solar panel. Based on the error, it calculates and outputs the drive target commands of the first control axis and the second control axis so that the solar wing normal coincides with the solar vector.

[0079] Simultaneously, the normal vector of the solar array motion process is updated in real time, thereby updating the included angle calculation in real time;

[0080] If the satellite is in the sunlit area, the first control shaft is driven to track the sun vector at an orbital angular velocity, the second control shaft is driven to adjust the position angle of the solar wing relative to the orbital plane so that the normal of the solar wing coincides with the sun vector, and the first control shaft is driven to stop rotating at the boundary of the shadow area;

[0081] If the satellite is in the shadow area, the first control shaft is driven to execute a slew instruction so that the first control shaft reaches another boundary target position of the shadow area.

[0082] The embodiment controls the solar wing to track the sun only in the sunlit area and to slew in the non-sunlit area, thereby realizing continuous supply of satellite energy in the sunlit area, realizing discontinuous slewing of the solar wing, improving the structural life, reducing the production cost, and saving the overall energy consumption.

[0083] It should be noted that the principle and working process of the discontinuous slewing control system of the double-freedom solar wing provided by the embodiment are similar to the discontinuous slewing control method of the double-freedom solar wing, and the related parts can be referred to the above description, which will not be repeated here.

[0084] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the implementation modes of the present application. For those skilled in the art, on the basis of the above description, other different forms of changes or variations can also be made, and it is impossible to enumerate all the implementation modes here. Any obvious changes or variations derived from the technical solutions of the present application still fall within the protection scope of the present application.

Claims

1. A two-degree-of-freedom solar wing discontinuous slew control method, characterized in that, The double-degree-of-freedom solar wing includes a first control shaft and a second control shaft, the first control shaft and the second control shaft include a non-conductive slip ring, the method comprises, obtaining the angle between the sun vector and the normal of the solar wing in the direction along the orbit running direction and the angle between the sun vector and the normal of the solar wing in the direction perpendicular to the orbit plane to obtain the angles between the sun vector and the normal of the solar wing projected on the first coordinate projection plane and the second coordinate projection plane, obtaining the driving target instructions of the first control shaft and the second control shaft according to the angles between the sun vector and the normal of the solar wing projected on the first coordinate projection plane and the second coordinate projection plane; determining the position of the satellite, if it is in the sunlit area, driving the first control shaft according to the driving target instructions so that the sun vector coincides with the normal of the solar wing on the first coordinate projection plane, then real-time tracking and aligning the sun vector with the orbit angular velocity, at the same time, driving the second control shaft to adjust the position angle of the solar wing relative to the orbit plane so that the normal of the solar wing coincides with the sun vector on the second coordinate projection plane, and driving the first control shaft to stop rotating at the boundary of the shadow area; if it is in the shadow area, driving the first control shaft to execute the rotation instruction so that the first control shaft reaches the target angle before reaching the sunlit area.

2. The double-degree-of-freedom solar wing discontinuous rotation control method according to claim 1, characterized in that, the first control shaft is used to realize the rotation of the solar wing in the direction perpendicular to the orbit plane, and the second control shaft is used to realize the rotation of the solar wing in the direction parallel to the orbit plane.

3. The two-degree-of-freedom solar wing discontinuous slew control method according to claim 1, characterized in that, the obtaining of the angle between the sun vector and the normal of the solar wing in the direction along the orbit running direction and the angle between the sun vector and the normal of the solar wing in the direction perpendicular to the orbit plane comprises: obtaining the satellite orbit position information, and then obtaining the sun vector in the satellite orbit coordinate system and the position relationship of the sun vector relative to the satellite orbit coordinate system; converting the sun vector in the satellite orbit coordinate system into the sun vector in the solar wing coordinate system according to the installation coordinate system matrix of the double-degree-of-freedom solar wing relative to the satellite and the orbit and star body coordinate system conversion matrix, and obtaining the azimuth of the sun vector in the solar wing coordinate system; obtaining the position relationship of the actual position of the solar wing relative to the solar wing coordinate system according to the position sensors of the first control shaft and the second control shaft of the double-degree-of-freedom solar wing; obtaining the angle between the sun vector and the normal of the solar wing in the direction along the orbit running direction and the angle between the sun vector and the normal of the solar wing in the direction perpendicular to the orbit plane according to the first projection and the second projection of the sun vector on the solar wing coordinate system.

4. The two-degree-of-freedom solar wing discontinuous slew control method according to claim 3, characterized in that, Further comprising: obtaining the orbit height and the inclination of the orbit plane of the satellite according to the satellite orbit position information to obtain the angle range of the shadow area and the sunlit area.

5. The two-degree-of-freedom solar wing discontinuous slew control method according to claim 1, characterized in that, Further comprising: when the satellite is in orbit, every other instruction calculation period, updating the target normal of the solar wing, updating the target instructions according to the current target normal of the solar wing, the target instructions including the target angle of the first control shaft and the target angle of the second control shaft.

6. The double-degree-of-freedom solar wing discontinuous rotation control method according to claim 5, characterized in that, the target angle AAng of the first control shaft and the target angle BAng of the second control shaft are calculated according to formula (1) and formula (2): AAng = -sign(SunVec_Ass(1)) * (Pi - acos(Cos_Ang)) …… (1) BAng = -asin(SunVec_Ass(2) / sqrt(SunVec_Ass(3) ^ 2 + SunVec_Ass(2) ^ 2 + SunVec(1) ^ 2)) …… (2) Wherein, AAng is the target angle of the first control axis, BAng is the target angle of the second control axis, SunVec_Ass(1) is the X-axis direction component of the sun vector in the solar wing coordinate system, SunVec_Ass(2) is the Y-axis direction component of the sun vector in the solar wing coordinate system, SunVec_Ass(3) is the Z-axis direction component of the sun vector in the solar wing coordinate system, Cos_Ang is the included angle between the projection of the sun vector on the first coordinate projection plane of the solar wing coordinate system and the Z-axis, the sign() function returns 0, 1 and -1 according to whether the value in the parentheses is 0, positive or negative, the acos() function is used to calculate the inverse sine value of the parameter, the asin() function is used to calculate the inverse sine value of the parameter, and the sqrt() function is used to calculate the square root of the parameter.

7. The two-degree-of-freedom solar wing discontinuous slewing control method according to claim 1, characterized in that, The angular acceleration of the first control axis when tracking the sun vector in the sunlit zone is "0.005° / s 2 ~ 0.015° / s 2 "; The angular acceleration of the first control shaft when executing the turn command in the shadow zone is "0.03 ° / s 2 ~ 0.5 ° / s 2 "; The first control axis reaches the shadow zone boundary and is decelerated and stopped by a predetermined angle to make the first control axis angle not exceed the shadow zone boundary when stopped.

8. A two-degree-of-freedom solar wing discontinuous slew control system, characterized by, Comprise, The included angle calculation module is used to calculate the included angle between the sun vector in the direction along the orbit and the normal of the solar wing, and the included angle between the sun vector in the direction perpendicular to the orbit and the normal of the solar wing. The solar wing driving module is used to calculate the error of the normal of the solar wing in the first coordinate projection plane and the second coordinate projection plane based on the included angle between the sun vector in the direction along the orbit and the normal of the solar wing, and the included angle between the sun vector in the direction perpendicular to the orbit and the normal of the solar wing, calculate and output the driving target instructions of the first control axis and the second control axis based on the error, so that the normal of the solar wing coincides with the sun vector. At the same time, the normal vector of the solar wing movement process is updated in real time, and the calculation of the included angle is updated in real time. If the satellite is in the sunlit area, the first control axis is driven to track the sun vector at the orbit angular velocity, the second control axis is driven to adjust the position angle of the solar wing relative to the orbit, so that the normal of the solar wing coincides with the sun vector, and the first control axis is stopped at the shadow zone boundary. If the satellite is in the shadow area, the first control axis is driven to execute the slewing instruction to make the first control axis reach the target angle before the satellite exits the shadow area.

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