Day pointing method for analog sun sensor driven solar array

Abstract

The application discloses a method for controlling the sun relative to a sailboard driven by an analog sun sensor, which comprises the following steps: determining the position of the sun relative to the satellite body; calculating the two-dimensional angle of the satellite attitude control according to the position of the sun relative to the satellite body; realizing the sun control of the predetermined axis of the satellite by the flywheel control according to the two-dimensional angle; determining the deviation angle Δθ between the current state of the sailboard and the ideal angle; and driving the sailboard to rotate by using the hysteresis control logic and the relationship between the sailboard driving and the deviation angle Δθ based on the deviation angle Δθ. The application can ensure that the illumination condition of the sailboard is maintained all the time after the sun appears relative to the analog sun sensor.

Description

Technical Field

[0001] This invention relates to a solar control method under a simulated solar sensor-driven solar panel, which is a satellite attitude control method for emergency satellite response and belongs to the field of satellite attitude control technology. Background Technology

[0002] When a satellite loses its attitude reference, its solar panels need to quickly capture the sun to obtain energy. The orientation of the solar panels is affected by a combination of the panel drive angle and the satellite's attitude. Current conventional techniques involve returning the solar panels to zero and then establishing a solar orientation through attitude control. However, during this process, it is often impossible to maintain solar orientation, affecting the panels' illumination and power supply. In special cases, this can even cause a power outage for the satellite. Therefore, new measures are needed to ensure the solar panels maintain a power supply while simultaneously restoring the satellite's solar orientation. Summary of the Invention

[0003] The purpose of this invention is to overcome the above-mentioned defects and provide a method for controlling the flywheel under the simulated sun sensor to align with the sun. This method solves the technical problem that existing control methods affect the sun's illumination conditions and power supply when maintaining the sun's alignment with the sun. This invention can ensure that the simulated sun sensor can maintain the sun's illumination conditions for the sun after the sun appears.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solution:

[0005] This invention discloses a method for controlling the solar orientation of a flywheel under a solar panel driven by an analog solar sensor. The method includes the following steps: determining the azimuth of the sun relative to the satellite body; calculating the two-dimensional angles for satellite attitude control and controlling these angles to 0; determining the deviation angle Δθ between the current state of the solar panel and the ideal angle, based on the installation relationship of the analog solar sensor on the solar panel, and determining the relationship between the solar panel drive and the deviation angle; to avoid frequent back-and-forth oscillations of the solar panel angle, designing hysteresis control logic based on the angle Δθ, ultimately determining the solar panel drive direction, and sending a solar panel zeroing command; using the flywheel for satellite attitude control, while the solar panel drive control can be performed independently. The solar panel will also be zeroed when the attitude is close to the desired position. This invention specifies an attitude solar orientation control scheme and a solar panel drive control scheme to ensure the solar panel's illumination conditions. It allows for simultaneous solar panel drive during the satellite's solar orientation establishment process, with both systems working together to ensure that the analog solar sensor maintains illumination conditions after the sun appears.

[0006] A method for controlling solar activity using an analog solar sensor-driven solar panel includes:

[0007] S1 determines the orientation of the sun relative to the satellite body;

[0008] S2 calculates the two-dimensional angles for satellite attitude control based on the sun's position relative to the satellite body;

[0009] Based on two-dimensional angles, the satellite's predetermined axis is aligned with the sun by flywheel control;

[0010] S3 determines the deviation angle Δθ between the current state of the windsurfing and the ideal angle;

[0011] S4 drives the sail rotation based on the deviation angle Δθ, utilizing hysteresis control logic and the relationship between the sail drive and the deviation angle Δθ.

[0012] Furthermore, in step S1, the orientation of the sun relative to the satellite body is determined using a sensor on the satellite body.

[0013] The sensor is an analog solar sensor, a digital solar sensor, a star sensor, or a 0-1 type solar sensor.

[0014] Furthermore, in step S1, the position of the sun relative to the satellite body is determined using a star sensor on the satellite body.

[0015] Taking a star sensor as an example, the orientation of the sun relative to the satellite body is represented by the projection component S of the sun vector onto the satellite body coordinate system. b express:

[0016] S b =A bi S i

[0017] Among them, A bi S is the coordinate transformation matrix from the inertial coordinate system to the satellite body coordinate system, calculated from the quaternions obtained by the star sensor. i This represents the projection component of the solar vector in the inertial coordinate system.

[0018] Furthermore, in step S2, the predetermined axis of the satellite is set as the -Z axis in the satellite body coordinate system, and the two-dimensional angles are the angle between the projection of the solar vector in the XOZ plane in the satellite body coordinate system and the -Z axis, and the angle between the projection in the YOZ plane and the -Z axis.

[0019] Furthermore, in step S2, the two-dimensional angle α of the satellite attitude control X and α Y Calculate using the following formula:

[0020]

[0021] Among them, S b (i) represents S b The i-th dimension, i = 1, 2, 3.

[0022] Furthermore, in step S2, based on the two-dimensional angle, the flywheel control achieves the alignment of the satellite's predetermined axis with the sun, using α... Xand α Y The attitude angles are used as inputs for the X and Y axes of the satellite, respectively. The flywheel is used for satellite attitude control, with the goal of controlling the attitude angles to 0.

[0023] Furthermore, in step S3, an analog solar sensor mounted on the solar panel is used to determine the deviation angle Δθ between the current state and the ideal angle.

[0024] Furthermore, in step S4, the relationship between the sail drive and the deviation angle Δθ is either in the same direction or in opposite directions; when the sail is driven in the same direction, the deviation angle Δθ increases, and when the sail is driven in opposite directions, the deviation angle Δθ decreases.

[0025] Furthermore, in step S4, the hysteresis control logic is as follows:

[0026]

[0027] Where m is the judgment threshold, which is a positive value, k represents the current period, and k-1 represents the previous period.

[0028] Furthermore, in step S4, the steering of the sailboard drive is determined based on the relationship between the sailboard drive and the deviation angle Δθ:

[0029] When the relationship between the wind turbine drive and the deviation angle Δθ is in the same direction, and flag(k) is positive, the wind turbine drive direction is positive.

[0030] When the relationship between the wind turbine drive and the deviation angle Δθ is opposite, if flag(k) is positive, the wind turbine drive steering is negative; if flag(k) is negative, the wind turbine drive steering is positive.

[0031] Compared with the prior art, the present invention has at least one of the following advantages:

[0032] (1) This invention provides an attitude control scheme for solar orientation and a solar drive control scheme to ensure the illumination conditions of the solar panel. It can realize the simultaneous drive of the solar panel during the process of establishing the solar orientation of the satellite. The two are jointly controlled to ensure that the solar panel can maintain the illumination conditions of the solar panel after the analog solar sensor appears in the sun.

[0033] (2) This invention provides hysteresis control logic, which can avoid frequent back-and-forth swing of the sail angle and improve control efficiency and accuracy;

[0034] (3) This invention has strong applicability and is conducive to large-scale application in the field of windsurfing control. Attached Figure Description

[0035] Figure 1 This is a flowchart of the solar control method under the simulated solar sensor driven solar panel of the present invention. Detailed Implementation

[0036] The features and advantages of the present invention will become clearer and more explicit from the following detailed description.

[0037] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments. Although various aspects of embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated otherwise.

[0038] This invention provides a method for controlling the solar orientation of a satellite by a flywheel driven by an analog solar sensor. The angle of the solar panel is controlled based on information from the analog solar sensor on the panel, and the flywheel controls the satellite's attitude so that the satellite points towards the sun in a certain direction. This achieves joint control of the satellite's attitude and the solar panel, enabling the satellite to quickly establish a solar orientation while ensuring energy availability.

[0039] This invention discloses a method for controlling the solar orientation of a flywheel under a solar sensor-driven solar panel, which specifically includes the following steps:

[0040] Step 1: Determine the orientation of the sun relative to the satellite body;

[0041] Step 2: Calculate the two-dimensional angles for satellite attitude control and control the two-dimensional angles to 0;

[0042] Step 3: Based on the installation relationship of the analog sun sensor on the solar panel, determine the deviation angle Δθ between the current state of the solar panel and the ideal angle, and determine the relationship between the solar panel drive and the deviation angle;

[0043] Step 4: To avoid frequent back-and-forth swings in the angle of the windsurfing, hysteresis control logic is designed based on the angle Δθ to finally determine the windsurfing drive direction and send a windsurfing zeroing command.

[0044] Satellite attitude control is achieved using a flywheel, while the solar panel drive control can be performed independently. As the attitude approaches its optimal position, the solar panel will also return to its zero position.

[0045] In one specific implementation, in step 1, the orientation of the sun relative to the satellite body is determined using attitude sensors installed on various celestial bodies.

[0046] In this step, the location can be determined based on the available sensors on the satellite, including analog solar sensors, digital solar sensors, star sensors, or 0-1 type solar sensors. The 0-1 type solar sensor determines the approximate azimuth.

[0047] In one specific implementation, in step 1, taking star sensor calculation as an example, the projection component S of the solar vector in the satellite body coordinate system... b The calculation is as follows:

[0048] S b =A bi S i

[0049] Among them, S i Let A be the projection component of the solar vector in the inertial coordinate system. bi The coordinate transformation matrix is ​​given by the inertial coordinate system relative to the satellite coordinate system, and the quaternion q is obtained from the star sensor measurement. bi Calculated.

[0050] In one specific implementation, step 2 calculates the two-dimensional angles for satellite attitude control and controls the two-dimensional angles to 0. Taking the -Z axis relative to the sun as an example, the two-dimensional angles are the angle between the projection from the XOZ plane of the satellite and the -Z axis, and the angle between the projection from the YOZ plane and the -Z axis.

[0051] The two-dimensional solar angle of a celestial body relative to the sun (Z side) is calculated as follows:

[0052] α X (k)=arctan2(-S b (2),-S b (3))

[0053] α Y (k)=arctan2(S b (1),-S b (3))

[0054] In one specific implementation, step 3 uses a sun sensor installed on the solar panel, typically an analog sun sensor, to determine the deviation angle Δθ between the current state of the solar panel and the ideal angle, and to determine the relationship between the solar panel drive and the deviation angle.

[0055] It can be divided into two types: 1) In the same direction: when the windsurfing is driven in the forward direction, the deviation angle Δθ increases; 2) In the opposite direction: when the windsurfing is driven in the forward direction, the deviation angle Δθ decreases.

[0056] In one specific implementation, in step 4, to avoid frequent back-and-forth swings of the sail angle, hysteresis control logic is designed based on the angle Δθ to finally determine the sail driving direction and send a sail zeroing command.

[0057] Hysteresis logic can be described as

[0058]

[0059] Based on the relationship between the windsurfing drive and the deviation angle, the drive steering signal is determined. If they are in the same direction, a positive flag(k) indicates positive windsurfing drive steering, and a negative flag(k) indicates negative windsurfing drive steering; if they are in opposite directions, a positive flag(k) indicates negative windsurfing drive steering, and a negative flag(k) indicates positive windsurfing drive steering. The windsurfing drive mode command is sent in non-zero mode.

[0060] In one specific implementation, in step 4, satellite attitude control and solar panel drive control can be performed independently, and the attitude will also be reset to zero when it is close to the target position.

[0061] Example:

[0062] The specific steps of the method of the present invention are as follows: Figure 1 As shown:

[0063] Step 1: Orientation relative to the satellite itself;

[0064] In this step, the location can be determined based on the available sensors on the satellite, including analog solar sensors, digital solar sensors, star sensors, or 0-1 type solar sensors. The 0-1 type solar sensor determines the approximate azimuth.

[0065] Taking star sensor calculation as an example, the projection component S of the solar vector in the satellite body coordinate system b The calculation is as follows:

[0066] S b =A bi S i

[0067] Among them, S i Let A be the projection component of the solar vector in the inertial coordinate system. bi The coordinate transformation matrix from the inertial coordinate system to the satellite coordinate system is given by the quaternion q obtained from the star sensor measurement. bi Calculated.

[0068] Step 2: Control the two-dimensional angles of the attitude, and reduce the two-dimensional angles to 0.

[0069] Taking the -Z axis relative to the sun as an example, the two-dimensional angles are the angle between the projection of the solar vector in the XOZ plane of the satellite's own system OXYZ and the -Z axis, and the angle between the projection of the solar vector in the YOZ plane and the -Z axis.

[0070] The two-dimensional solar angle of a celestial body relative to the sun (Z side) is calculated as follows:

[0071] α X =arctan2(-S b (2),-S b (3))

[0072] α Y =arctan2(S b (1),-S b (3))

[0073] In the formula S b (i) represents the solar vector S b The i-th dimension.

[0074] Using the two-dimensional angle α in step 2 X and α Y The attitude angles are used as inputs for the X and Y axes of the satellite, respectively. The flywheel is used for satellite attitude control, with the goal of controlling the attitude angles to 0.

[0075] Step 3: Using the sun sensor installed on the solar panel, usually an analog sun sensor, the deviation angle Δθ between the current state of the solar panel and the ideal angle can be determined based on the measurement information from the sun sensor.

[0076] Step 4: The installation relationship between the simulated solar sensor and the solar panel on the celestial body can determine the relationship between the solar panel drive and the deviation angle Δθ, which can be divided into two types: 1) In the same direction: when the solar panel is driven in the forward direction, the deviation angle Δθ increases; 2) In opposite directions: when the solar panel is driven in the forward direction, the deviation angle Δθ decreases.

[0077] Step 5: To avoid frequent back-and-forth swings in the angle of the windsurfing, hysteresis control logic is designed based on the deviation angle Δθ to ultimately determine the windsurfing drive direction and drive the windsurfing to rotate.

[0078] Hysteresis logic can be described as

[0079]

[0080] In the above formula, m is the judgment threshold, which is positive; k represents the current cycle; and k-1 represents the previous cycle. The drive steering signal can be determined based on the relationship between the sailboard drive and the deviation angle Δθ. If they are in the same direction, a positive flag(k) indicates positive sailboard drive steering, and a negative flag(k) indicates negative sailboard drive steering; if they are in opposite directions, a positive flag(k) indicates negative sailboard drive steering, and a negative flag(k) indicates positive sailboard drive steering. The sailboard is driven to rotate according to the determined drive direction. This is used to determine the sailboard drive direction; after the direction is determined, the sailboard drive mechanism needs to realize the sailboard rotation.

[0081] The present invention has been described in detail above with reference to specific embodiments and exemplary examples; however, these descriptions should not be construed as limiting the present invention. Those skilled in the art will understand that various equivalent substitutions, modifications, or improvements can be made to the technical solutions and embodiments of the present invention without departing from the spirit and scope of the invention, and all such modifications and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims.

[0082] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A method for controlling solar observation under a solar sensor-driven solar panel, characterized in that, include: S1 determines the orientation of the sun relative to the satellite body; S2 calculates the two-dimensional angles for satellite attitude control based on the sun's position relative to the satellite body; Based on two-dimensional angles, the satellite's predetermined axis is aligned with the sun by flywheel control; S3 determines the deviation angle Δθ between the current state of the windsurfing and the ideal angle; S4 drives the sail rotation based on the deviation angle Δθ, utilizing hysteresis control logic and the relationship between the sail drive and the deviation angle Δθ.

2. The solar control method under a simulated solar sensor-driven solar panel according to claim 1, characterized in that, In step S1, the position of the sun relative to the satellite body is determined using a sensor on the satellite body; The sensor is an analog solar sensor, a digital solar sensor, a star sensor, or a 0-1 type solar sensor.

3. The solar control method under a simulated solar sensor-driven solar panel according to claim 2, characterized in that, In step S1, the position of the sun relative to the satellite body is determined using a star sensor on the satellite body. The orientation of the sun relative to the satellite body is represented by the projection component S of the sun vector onto the satellite body coordinate system. b express: S b =A bi S i Among them, A bi S is the coordinate transformation matrix from the inertial coordinate system to the satellite body coordinate system, calculated from the quaternions obtained by the star sensor. i This represents the projection component of the solar vector in the inertial coordinate system.

4. The solar control method under a simulated solar sensor-driven solar panel according to claim 3, characterized in that, In step S2, the predetermined axis of the satellite is set as the -Z axis in the satellite body coordinate system, and the two-dimensional angles are the angle between the projection of the solar vector in the XOZ plane in the satellite body coordinate system and the -Z axis, and the angle between the projection in the YOZ plane and the -Z axis.

5. A solar control method for a solar sensor-driven solar panel according to claim 4, characterized in that, In step S2, the two-dimensional angle α of satellite attitude control X and α Y Calculate using the following formula: Among them, S b (i) represents S b The i-th dimension, i = 1, 2, 3.

6. The solar control method under a simulated solar sensor-driven solar panel according to claim 5, characterized in that, In step S2, based on the two-dimensional angle, the flywheel control achieves the alignment of the satellite's predetermined axis with the sun, using α. X and α Y The attitude angles are used as inputs for the X and Y axes of the satellite, respectively. The flywheel is used for satellite attitude control, with the goal of controlling the attitude angles to 0.

7. The solar control method under a simulated solar sensor-driven solar panel according to claim 1, characterized in that, In step S3, the deviation angle Δθ between the current state and the ideal angle is determined using an analog solar sensor installed on the solar panel.

8. The solar control method under a simulated solar sensor-driven solar panel according to claim 1, characterized in that, In step S4, the relationship between the sail drive and the deviation angle Δθ is either in the same direction or in opposite directions; when the sail is driven in the same direction, the deviation angle Δθ increases, and when the sail is driven in opposite directions, the deviation angle Δθ decreases.

9. A method for controlling solar activity under a simulated solar sensor-driven solar panel according to claim 8, characterized in that, In step S4, the hysteresis control logic is as follows: Where m is the judgment threshold, which is a positive value, k represents the current period, and k-1 represents the previous period.

10. A method for controlling solar observation under a simulated solar sensor-driven solar panel according to claim 9, characterized in that, In step S4, the steering of the sailboard drive is determined based on the relationship between the sailboard drive and the deviation angle Δθ: When the relationship between the wind turbine drive and the deviation angle Δθ is in the same direction, and flag(k) is positive, the wind turbine drive direction is positive. When the relationship between the wind turbine drive and the deviation angle Δθ is opposite, if flag(k) is positive, the wind turbine drive steering is negative; if flag(k) is negative, the wind turbine drive steering is positive.

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