Flexible solar cell wing on-orbit autonomous step-by-step deployment control method

Abstract

The application discloses a kind of flexible solar cell wing entry orbit autonomous step-by-step deployment control method, comprising: power supply to the compression release device, after compression release device detonation makes flexible solar cell wing and cabin unlock separation;Control lifting mechanism motor work, make lifting mechanism rotate to 90 and lock in position;Control two sets of lower box body deployment locking mechanism motor work simultaneously, drive the upper box body of two sides solar cell array of flexible solar cell wing, lower box body is unlocked to position with 90 and lock, makes four sets of upper box body deployment locking mechanism follow-up deployment with 90 and lock;Control two sets of constraint release mechanism motor work simultaneously, the upper box body of two sides solar cell array of flexible solar cell wing, lower box body is unlocked to position;Control stretching mechanism motor work, stretching mechanism stretching arm drive the upper box body of two sides solar cell array is unfolded, until solar cell panel array is completely unfolded, using tensioning mechanism to apply pre-tightening force solar cell panel array is pulled tight.

Description

TECHNICAL FIELD

[0001] The present application relates to a large spacecraft flexible solar cell wing deployment control method, and belongs to the field of control. BACKGROUND

[0002] With the development of space technology, the deployment area of the spacecraft solar cell wing is continuously increasing, and the configuration is developed from rigid and semi-rigid solar cell wings to flexible solar cell wings. The flexible solar cell wing has the characteristics of multiple active and passive mechanisms, strong time sequence during deployment, long deployment time, and complex deployment process. The traditional control method of directly deploying to the position by the passive mechanism after the rigid and semi-rigid solar cell wing is unlocked by the pyrotechnic device is not suitable for the flexible solar cell wing deployment during orbit insertion. During the initial orbit insertion of the large spacecraft, the flexible solar cell wing deployment needs to ensure the high autonomy of the flexible solar cell wing deployment to reduce the ground command intervention, and also needs to ensure the safety of the flexible solar cell wing and the spacecraft under fault conditions. SUMMARY

[0003] The technical problem to be solved by the present application is to overcome the shortcomings of the prior art, and the present application provides a flexible solar cell wing autonomous step-by-step deployment control method during orbit insertion, which can realize the autonomous step-by-step deployment of the flexible solar cell wing after orbit insertion, and can autonomously judge the fault mode and stop the deployment process to protect the flexible solar cell wing and the spacecraft.

[0004] The technical solution adopted by the present application is: a flexible solar cell wing autonomous step-by-step deployment control method during orbit insertion, comprising:

[0005] The pressure release device is energized, and after the pressure release device is detonated, the flexible solar cell wing is unlocked and separated from the cabin body;

[0006] After the pressure release device is released, delay T seconds, control the lifting mechanism motor to work, and make the lifting mechanism rotate to 90° and lock in place, T is a set value;

[0007] After the lifting mechanism is deployed to the position, delay T seconds, control the two sets of lower box body deployment locking mechanism motors to work at the same time, drive the upper and lower boxes of the two sides of the solar cell array of the flexible solar cell wing to deploy 90° and lock, and make the four sets of upper box body deployment locking mechanisms follow the deployment 90° and lock;

[0008] After the two sets of lower box body deployment locking mechanisms are deployed and locked to the position, delay T seconds, control the two sets of constraint release mechanism motors to work at the same time, and unlock the upper and lower boxes of the two sides of the solar cell array of the flexible solar cell wing to the position;

[0009] After the two sets of restraint release mechanisms are unlocked to the position, delay T seconds, control the motor of the stretching mechanism to work, the stretching mechanism stretching arm drives the upper box of the two sides of the solar cell array to expand, until the solar cell panel array is completely expanded, and the pre-tightening force is applied by using the tensioning mechanism to tighten the solar cell panel array.

[0010] Further, according to the installation position of the compression release device, the compression release device is numbered and divided into three batches according to the number, and the three batches of compression release devices are sequentially detonated; after each batch is detonated, the next batch is detonated after T seconds.

[0011] Further, the lifting mechanism is provided with two lifting mechanism locking to position micro switches, a thermistor and an angle sensor for monitoring and autonomous judgment of the lifting mechanism expansion process, the thermistor is used for monitoring the motor temperature, and the angle sensor is used for monitoring the lifting angle.

[0012] Further, the control parameters of the lifting mechanism in the program expansion process include: lifting mechanism action time t1, lifting mechanism motor current I1, lifting mechanism motor current limiting value I 限1 , lifting mechanism motor overcurrent protection time t 延1 , lifting mechanism working timeout preset time t 预1 ;

[0013] The lifting mechanism expansion process includes:

[0014] Before the lifting mechanism motor is powered on, it is judged whether the two lifting mechanism locking to position micro switches are in the triggered state: if any of the lifting mechanism locking to position micro switches is triggered, a lifting mechanism micro switch short circuit fault is reported, and the flexible solar cell wing autonomous expansion process is interrupted; if neither of the two lifting mechanism locking to position micro switches is triggered, the lifting mechanism action time t1 is set to 0s, the lifting mechanism motor starts to be powered on at t1=0s, and the lifting mechanism motor accelerates to a set speed a under a set time period under a rated torque load;

[0015] The lifting mechanism motor is controlled to run at a set speed a, and the lifting mechanism motor current I1 is detected: if I1≥I 限1 and the duration of I1 exceeding I 限1 is Δt1>t 延1 , the lifting mechanism motor immediately stops rotating, a mechanism overcurrent fault is reported, and the flexible solar cell wing autonomous expansion process is interrupted; otherwise, the lifting mechanism motor runs at a set speed a until any of the lifting mechanism locking to position micro switches is triggered, then the lifting mechanism motor immediately stops rotating after being powered off, and the lifting mechanism expansion is completed; if neither of the lifting mechanism locking to position micro switches is triggered, it is judged whether t1 is greater than t 预1 : if t1>t 预1If t1 > t, the lifting mechanism motor stops, the mechanism works overtime fault mode is reported, and the flexible solar wing autonomous deployment process is interrupted; if t1 < t 预1 , the motor continues to run at a constant speed a, and the lifting mechanism motor current I1 is detected again.

[0016] Further, the two sets of lower box body deployment locking mechanisms act independently; each set of lower box body deployment locking mechanism is provided with two lower box body deployment to position micro switches, two lower box body locking to position micro switches, a thermistor and an angle sensor, which are used for monitoring and autonomous judgment of the deployment process of the lower box body deployment locking mechanism; the thermistor is used for monitoring the motor temperature, and the angle sensor is used for monitoring the deployment angle of the lower box body deployment locking mechanism; the same side of each set of lower box body deployment locking mechanism is provided with two sets of upper box body deployment locking mechanisms, and each set of upper box body deployment locking mechanism is provided with an upper box body deployment to position micro switch.

[0017] Further, the control parameters of the lower box body deployment locking mechanism during the program deployment process include: the action time t2 of the lower box body deployment locking mechanism, the motor current I2 of the lower box body deployment locking mechanism, the current limiting value I 限2 of the lower box body deployment locking mechanism motor, the overcurrent protection time t 延2 of the lower box body deployment locking mechanism motor, and the working overtime preset time t 预2 of the lower box body deployment locking mechanism.

[0018] The deployment process of the lower box body deployment locking mechanism includes:

[0019] Before the lower box body deployment locking mechanism motor is powered on, it is judged whether the two lower box body deployment to position micro switches and the two lower box body locking to position micro switches are in the triggered state; if any of the four micro switches is triggered, the mechanism micro switch short circuit fault is reported, and the flexible solar wing autonomous deployment process is interrupted; if none of the four micro switches is triggered, the working time t2 of the lower box body deployment locking mechanism is set to 0s, the lower box body deployment locking mechanism motor starts to be powered on when t2=0s, and the lower box body deployment locking mechanism motor directly starts to accelerate to the set speed a under the rated torque load.

[0020] The lower box body deployment locking mechanism motor runs at the set speed a, the lower box body deployment locking mechanism motor current I2 is detected, if I2≥I 限2 and the duration Δt2 of I2 exceeding I 限2 is greater than t 延2 , the lower box body deployment locking mechanism motor immediately stops; after the lower box body deployment locking mechanism motor stops, the triggering state of the two lower box body locking to position micro switches is judged: if any of the lower box body locking to position micro switches is triggered, the triggering state of the two lower box body deployment to position micro switches and the two upper box body deployment to position micro switches is judged:

[0021] If any of the two lower box deployment to position micro switch and the two upper box deployment to position micro switch triggers, the lower box deployment locking mechanism is programmed to deploy complete; if both the two lower box deployment to position micro switch and the two upper box deployment to position micro switch are not triggered, the mechanism micro switch abnormal failure mode is reported, and the flexible solar wing autonomous deployment process is interrupted;

[0022] If both the two lower box locking to position micro switch are not triggered, the mechanism micro switch abnormal failure mode is reported, and the flexible solar wing autonomous deployment process is interrupted;

[0023] If I2 限2 or I2 exceeds I 限2 But the duration Δt2≤t 延2 , whether t2 is greater than the lower box deployment locking mechanism working timeout preset time t 预2 , if t2>t 预2 , the lower box deployment locking mechanism motor stops, the mechanism working timeout fault is reported, and the flexible solar wing autonomous deployment process is interrupted; if t2≤t 预2 , the lower box deployment locking mechanism motor continues to run at the set speed a, and the lower box deployment locking mechanism motor current I2 is detected again.

[0024] Further, the two sets of constraint release mechanisms act independently, and each set of constraint release mechanism is provided with two constraint release unlocking to position micro switches, a thermistor and a motor self-Hall sensor for monitoring and autonomous judgment of the constraint release mechanism unlocking process. The thermistor is used to monitor the motor temperature, and the motor self-Hall sensor is used to monitor the motor rotation number n3.

[0025] Further, the control parameters of the constraint release mechanism in the program unlocking process include: constraint release mechanism action time t3, constraint release mechanism motor current I3, constraint release mechanism motor current limiting value I 限3 , constraint release mechanism motor overcurrent protection time t 延3 , constraint release mechanism working timeout preset time t 预3 , constraint release mechanism motor speed V3 and unlocking process required speed V 展3 ;

[0026] The unlocking process of the constraint release mechanism includes:

[0027] Before energizing the constraint release mechanism motor, it checks whether the two constraint release unlocking microswitches are in the triggered state. If either microswitch is triggered, a short circuit fault is reported, and the autonomous deployment process of the flexible solar cell wings is aborted. If neither is triggered, the constraint release mechanism's working time t3 is set to 0s, the constraint release mechanism motor's rotation number n3 = 0, and the constraint release mechanism motor is energized at t3 = 0s. After starting, the constraint release mechanism motor directly accelerates to V3 = V 展3 ;

[0028] The motor of the constraint release mechanism operates at V3 = V 展3 Running at ±10% speed, the motor current I3 of the constraint release mechanism is detected: if I3 ≥ I 限3 And I3I 限3 The duration Δt3>t 延3 If the constraint release mechanism motor stops immediately, an overcurrent fault mode is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, the trigger status of the two constraint release unlocked microswitches is checked:

[0029] If any constraint release microswitch is triggered and the constraint release mechanism motor rotates for a delay of T' seconds, it will immediately stop and the constraint release mechanism will be unlocked; T' is a set value.

[0030] If neither of the two constraint release microswitches is triggered when the constraint release mechanism is fully released, then determine whether the constraint release mechanism's action time t3 is greater than t. 预3 If t3 > t 预3 If the constraint release mechanism motor stops, a timeout fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; if t3≤t 预3 Then the constraint release mechanism motor continues to operate at V3 = V 展3 Run at ±10% speed and retest the motor current I3 of the constraint release mechanism.

[0031] Furthermore, the extension mechanism is equipped with two micro switches for extending the mechanism into position, a thermistor, and a rotary transformer integrated into the motor, which are used for monitoring and autonomous judgment during the extension process; the thermistor is used to monitor the motor temperature.

[0032] Furthermore, the control parameters of the extension mechanism during the program deployment process include: extension mechanism action time t4, extension mechanism motor current I4, and extension mechanism motor current limit value I. 限4 Overcurrent protection time t of the extension mechanism motor 延4 The extension mechanism's working timeout preset time t 预4 The number of rotations of the motor in the extension mechanism (n4), the motor speed in the extension mechanism (V4), and the number of rotations of the motor in the extension mechanism during the unfolding stage (n) 展4, the motor speed V of the stretching mechanism in the stretching mechanism deployment stage 展4 , the motor speed V of the stretching mechanism in the stretching mechanism tensioning stage 张4 , the preset number of turns n of the stretching mechanism in the stretching mechanism deployment stage 预4 ;

[0033] The deployment process of the stretching mechanism includes:

[0034] Before the stretching mechanism motor is powered on, it is determined whether the two stretching mechanism deployment-in-place micro switches are in a triggered state. If either is triggered, a stretching mechanism micro switch short circuit fault is reported, and the flexible solar wing autonomous deployment process is aborted. If neither is triggered, the stretching mechanism operation time t4 is set to 0 s, the stretching mechanism motor rotation number n4 = 0, and the stretching mechanism motor starts to be powered on at t4 = 0 s. After the stretching mechanism motor is started, the speed is accelerated to V4 = V 展4 in a set time period, and the stretching mechanism deployment stage is entered.

[0035] In the stretching mechanism deployment stage, the stretching mechanism motor is controlled to run at V4 = V 展4 ± 5%, and the stretching mechanism motor rotation number n4 is determined.

[0036] If n4 ≥ n 展4 , the stretching mechanism tensioning stage is entered, and the stretching mechanism motor speed is reduced to V4 = V 张4 after gear shifting. The stretching mechanism motor is controlled to run at V4 = V 张4 ± 5%, and the triggering state of the two stretching mechanism deployment-in-place micro switches and the motor rotation number n4 are determined.

[0037] If either stretching mechanism deployment-in-place micro switch is triggered or n4 ≥ n 预4 , the stretching mechanism deployment is completed immediately after the motor is powered off and stopped. Otherwise, the stretching mechanism motor current I4 is detected.

[0038] If I4 ≥ I 限4 and the duration Δt4 during which I4 exceeds I 限4 is greater than t 延4 , the stretching mechanism motor is immediately stopped, a stretching mechanism overcurrent fault is reported, and the flexible solar wing autonomous deployment process is aborted. Otherwise, it is determined whether the stretching mechanism operation time t4 is greater than t 预4 : if t4 > t 预4 , a stretching mechanism operation timeout fault is reported, and the flexible solar wing autonomous deployment process is aborted. If t4 ≤ t 预4 , the stretching mechanism motor is controlled to continue running at V4 = V 张4 ± 5%, and the triggering state of the two stretching mechanism deployment-in-place micro switches and the motor rotation number n4 are determined again.

[0039] If n4 < n展4 Then, the extension mechanism motor current I4 is detected:

[0040] If I4≥I 限4 and I4 exceeds I 限4 for a duration Δt4>t 延4 , the extension mechanism motor is immediately stopped, a mechanism overcurrent fault is reported, and the flexible solar array wing autonomous deployment process is aborted; otherwise, it is determined whether the extension mechanism action time t4 is greater than t 预4 : if t4>t 预4 , a mechanism operation timeout fault is reported, and the flexible solar array wing autonomous deployment process is aborted; if t4≤t 预4 , the extension mechanism motor is controlled to continue to operate at V4=V 展4 ±5% speed, and the motor rotation number n4 is re-judged.

[0041] Compared with the prior art, the present application has the following beneficial effects:

[0042] (1) The present application provides a flexible solar array wing in-orbit deployment control method, which completely controls the step-by-step deployment of the flexible solar array wing by the spacecraft autonomously, without the need for ground intervention under normal circumstances;

[0043] (2) The flexible solar array wing in-orbit deployment control method provided by the present application can autonomously judge and timely abort the deployment process in the event of mechanism signal short circuit fault, mechanism overcurrent fault, mechanism operation timeout fault and other fault conditions during the deployment of the flexible solar array wing, thereby ensuring the safety of the flexible solar array wing;

[0044] (3) The flexible solar array wing in-orbit deployment control method provided by the present application can monitor the deployment position, motor speed, and deployment to position state of each mechanism during the deployment of the flexible solar array wing, and timely feedback the state of the flexible solar array wing;

[0045] (4) The flexible solar array wing in-orbit deployment control method provided by the present application sets a redundant backup means for the deployment to position criterion of each mechanism during the deployment of the flexible solar array wing, thereby improving the deployment reliability of the flexible solar array wing;

[0046] (5) The flexible solar array wing in-orbit deployment control method provided by the present application initiates the compression release device in 3 batches, and each batch of compression release device is distributed according to the symmetry plane of the flexible solar array wing or the diagonal of the mechanism, so as to minimize the asymmetric impact force of the pyrotechnic initiation on the flexible solar array wing or the spacecraft;

[0047] (6) The flexible solar cell wing on-orbit deployment control method provided by the application is divided into 5 steps of deployment, which can reserve the time for ground interpretation of the signal of the last step of deployment and related monitoring parameters, and can wait for the completion of the last step of action to start the next step of action after the flexible solar cell wing is stabilized;

[0048] (7) The flexible solar cell wing on-orbit deployment control method provided by the application adopts variable speed control for the stretching mechanism during the deployment of the flexible solar cell wing. High speed deployment is adopted when the load of the mechanism is low in the deployment stage, and low speed deployment is adopted when the load of the mechanism is high in the tensioning stage, so as to ensure the stability of the deployment of the flexible solar cell wing and reduce the deployment time of the flexible solar cell wing;

[0049] (8) The flexible solar cell wing on-orbit deployment control method provided by the application has independent deployment time sequence for each set of active mechanism, and is independent and not coupled. The method can ensure the reliability of the on-orbit deployment of the flexible solar cell wing, and can facilitate the ground development of each mechanism and the step-by-step deployment test verification of the flexible solar cell wing system. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 is a composition diagram of the flexible solar cell wing.

[0051] Figure 2 is a main flowchart of the on-orbit autonomous deployment of the flexible solar cell wing of the application.

[0052] Figure 3a is a numbering diagram of the flexible solar cell wing compression release device of the application;

[0053] Figure 3b is a batch detonation time sequence diagram of the flexible solar cell wing compression release device;

[0054] Figure 3c is a state sectional view before the detonation of the compression release device;

[0055] Figure 3d is a state sectional view after the detonation of the compression release device.

[0056] Figure 4a is a process flowchart of the flexible solar cell wing lifting mechanism according to the program of the application;

[0057] Figure 4b is a state diagram of the deployment and locking of the flexible solar cell wing lifting mechanism of the application;

[0058] Figure 4c is a diagram of the arrangement position of the micro switch of the flexible solar cell wing lifting mechanism of the application;

[0059] Figure 4dThe controlled object and monitoring sensor schematic diagram of the flexible solar cell wing lifting mechanism programmed unfolding process of the application.

[0060] Figure 5a The flexible solar cell wing lower box unfolding locking mechanism programmed unfolding flow chart of the application.

[0061] Figure 5b The flexible solar cell wing two-side lower box unfolding locking mechanism unfolding locking in place state schematic diagram of the application.

[0062] Figure 5c The flexible solar cell wing one-side lower box unfolding locking mechanism locking and two sets of upper box unfolding locking mechanism locking in place micro switch arrangement position schematic diagram of the application.

[0063] Figure 5d The controlled object and monitoring sensor schematic diagram of the flexible solar cell wing upper box unfolding locking mechanism locking programmed unfolding process of the application.

[0064] Figure 6a The flexible solar cell wing restraint releasing mechanism programmed unlocking flow chart of the application.

[0065] Figure 6b The flexible solar cell wing two-side restraint releasing mechanism unlocking in place state schematic diagram of the application.

[0066] Figure 6c The flexible solar cell wing one-side restraint releasing mechanism unlocking in place micro switch arrangement position schematic diagram of the application.

[0067] Figure 6d The controlled object and monitoring sensor schematic diagram of the flexible solar cell wing restraint releasing mechanism locking programmed unfolding process of the application.

[0068] Figure 7a The flexible solar cell wing stretching mechanism programmed unfolding flow chart of the application.

[0069] Figure 7b The flexible solar cell wing stretching mechanism unfolding in place state and unfolding stage, tensioning stage length schematic diagram of the application.

[0070] Figure 7c The flexible solar cell wing stretching mechanism unfolding in place micro switch arrangement position schematic diagram of the application.

[0071] Figure 7d The controlled object and monitoring sensor schematic diagram of the flexible solar cell wing stretching mechanism programmed unfolding process of the application. DETAILED DESCRIPTION

[0072] The application will be further described in detail below with reference to the accompanying drawings.

[0073] As Figure 1 shown, the flexible solar cell wing (disclosed in the application with application No. 202010070631.6) of the application comprises 15 compression release devices 5 (disclosed in the application with application No. 202210664826.2), lifting mechanisms 1, stretching mechanisms 2, a flexible solar cell array, an upper box body unfolding locking mechanism 6 and a lower box body unfolding locking mechanism 7; the flexible solar cell array comprises: an upper box body 31, a lower box body 32, a constraint release mechanism 33, a tensioning mechanism 34, a guide mechanism and a cell panel.

[0074] Among them, the 6 sets of active mechanisms include the lifting mechanisms 1, 2, the lower box body unfolding locking mechanisms 7, the constraint release mechanisms 33 and the stretching mechanisms 2, the 4 sets of tensioning mechanisms 34 are passive mechanisms, and the 4 sets of upper box body unfolding locking mechanisms 6 are follow-up mechanisms.

[0075] As Figure 2 shown, the flexible solar cell wing of the application is autonomously unfolded in steps into orbit and is divided into 5 steps, each step of unfolding action is separated by 10s, and the 6 sets of active mechanisms perform unfolding actions according to independent time sequences. Among them, the 2 sets of lower box body unfolding locking mechanisms 7 simultaneously act, and only after both are unfolded in place can the subsequent 10s delay time counting start; the 2 sets of constraint release mechanisms 33 simultaneously act, and only after both are unlocked in place can the subsequent 10s delay time counting start.

[0076] As Figure 3a , Figure 3b , Figure 3c , Figure 3d shown, the 15 compression release devices 5 of the flexible solar cell wing of the application are divided into 3 batches for detonation, and the compression release devices 5 detonated in each batch are distributed according to the symmetry plane of the flexible solar cell wing or the diagonal of the mechanism, so as to minimize the asymmetric impact force of the pyrotechnic detonation on the flexible solar cell wing or the spacecraft. Before the pyrotechnic separation nut 51 in the compression release device 5 is detonated, the flexible solar cell wing compression rod 52 is threadedly connected with the pyrotechnic separation nut 51; after the pyrotechnic separation nut 51 is detonated, the pyrotechnic separation nut 51 is threadedly opened, the flexible solar cell wing compression rod 52 is extracted from the pyrotechnic separation nut 51, and the flexible solar cell wing is unlocked and separated from the solar wing compression support 8.

[0077] As Figure 4a , Figure 4b , Figure 4c , Figure 4dAs shown in the drawings, the flexible solar cell wing lifting mechanism 1 of the present application is unfolded according to the program, and the lifting mechanism motor adopts 5-7s acceleration start-up due to the large lifting unfolding load inertia of the flexible solar cell wing. The lifting mechanism 1 comprises a fixed joint 11, a rotating joint 12, a lifting mechanism driving assembly 13 (i.e. lifting mechanism motor) and a locking assembly 14; the lifting mechanism motor is controlled by speed open loop, Figure 4a The motor speed in the drawings is only a reference value. One lifting mechanism locking in-place micro switch 15 is arranged in the locking assembly 14, and two lifting mechanism locking in-place micro switches 15 adopt 2-to-1 triggering mode to judge whether the lifting mechanism unfolding locking is in place. The motor over-current stop protection is adopted for the transmission chain of the lifting mechanism during unfolding process. The working overtime stop protection is adopted for the lifting mechanism 1 to prevent the motor from overheating.

[0078] As shown in the drawings, Figure 5a , Figure 5b , Figure 5c , Figure 5d As shown in the drawings, the flexible solar cell wing lower box unfolding locking mechanism of the present application is unfolded according to the program, and the lower box unfolding locking mechanism motor 73 adopts direct start-up due to the small unfolding load inertia of the flexible solar cell wing lower box unfolding locking mechanism. The motor is controlled by speed open loop, and the motor speed in the drawings is only a reference value. According to the locking characteristics of the lower box unfolding locking mechanism 7, the motor output over-current torque is required to provide the locking stiffness of the mechanism, and therefore the motor over-current method is adopted to control the motor stop for the lower box unfolding locking mechanism locking. The same side 2 sets of upper box unfolding locking mechanism 6 of the lower box unfolding locking mechanism 7 are follow-up unfolding mechanisms, and have the same unfolding angle as the lower box unfolding locking mechanism 7. Two lower box unfolding in-place micro switches 71 and two lower box locking in-place micro switches 72 are arranged in the lower box unfolding locking mechanism, and 2-to-1 triggering mode is adopted to judge whether the lower box unfolding locking mechanism 7 is locked in place. Four-to-1 triggering mode is adopted for the two lower box unfolding in-place micro switches 71 and the same side two upper box unfolding in-place micro switches 61 to judge whether the lower box unfolding locking mechanism 7 is unfolded in place. The working overtime stop protection is adopted for the mechanism to prevent the motor from overheating during unfolding process.

[0079] As shown in the drawings, Figure 6a , Figure 6b , Figure 6c , Figure 6d As shown in the drawings, the flexible solar cell wing constraint release mechanism 33 of the present application is unlocked according to the program, and the constraint release mechanism motor 332 adopts direct start-up due to the small constraint release unlocking load inertia of the flexible solar cell wing. The motor is controlled by speed and current double closed loop, and the motor speed is required to be controlled at the required value V 展3Within ±10%. The single constraint release mechanism 33 uses two constraint release unlocking microswitches 331, employing a 2-out-of-1 triggering method to determine if the mechanism is fully unlocked. During the unlocking process, the mechanism's transmission chain is protected against motor overcurrent. To prevent motor overheating, the mechanism employs a timeout protection mechanism.

[0080] like Figure 7a , Figure 7b , Figure 7c , Figure 7d As shown, the extension mechanism 2 includes: an extension arm 21 with a triangular cross-section, a storage box 22, and an extension mechanism motor 23. The flexible solar cell wing extension mechanism 2 of this invention unfolds according to a program. Because the motor speed of the flexible solar cell wing extension mechanism motor 23 is very high during the unfolding phase, the motor accelerates to start in 5-7 seconds. The motor 23 uses a dual closed-loop control system for speed and current, requiring the motor speed to be controlled at a required value V. 展4 Within ±5%. Based on the conversion relationship between the number of motor rotations of the extension mechanism and the unfolded length, the number of motor rotations n corresponding to the speed change point of the extension mechanism 2 entering the tensioning stage can be calculated. 展4 After the extension mechanism 2 enters the tensioning stage, the tensioning mechanism 34 applies an axial load force to the extension mechanism 2, and the motor uses a 5-second speed change to a low speed. The extension mechanism 2 uses two extension mechanism deployment microswitches 24 (symmetrically arranged inside the storage box 22) and the number of motor rotations n and the preset number of motor rotations n. 预 Comparison (n4≥n) 预4 The mechanism is determined to be fully deployed using a 3-out-of-1 trigger method. During the deployment of extension mechanism 2, the motor transmission chain is protected against overcurrent. To prevent motor overheating, the mechanism employs a timeout protection mechanism.

[0081] like Figure 2 As shown, a method for autonomous step-by-step deployment control of flexible solar cell wings into orbit includes the following steps:

[0082] Step 1: Power is applied to the pyrotechnic separation nut 51 in the clamping release device 5. After the pyrotechnic separation nut 51 detonates, the flexible solar cell wing is unlocked and separated from the cabin.

[0083] Step 2: After the clamping release device 5 is released, there is a 10-second delay. The lifting mechanism motor 13 then operates, and the lifting mechanism 1 rotates to 90° and locks in place.

[0084] Step 3: After the lifting mechanism 1 is fully deployed, there is a 10-second delay. The two sets of lower housing deployment and locking mechanism motors 73 work simultaneously, driving the upper housing 31 and lower housing 32 of the flexible solar cell array on both sides of the flexible solar cell wing to deploy 90° and lock. The four sets of upper housing deployment and locking mechanisms 6 follow suit, deploying 90° and locking.

[0085] Step 4: After the two sets of lower box body unfolding locking mechanisms 7 are both unfolded and locked in place, delay for 10 seconds, and then the two sets of constraint release mechanisms 33 work simultaneously to unlock the upper box bodies 31 and the lower box bodies 32 of the two flexible solar cell arrays on both sides of the flexible solar cell wing to the position.

[0086] Step 5: After the two sets of constraint release mechanisms 33 are both unlocked to the position, delay for 10 seconds, and then the stretching mechanism motor 23 works, the stretching mechanism stretching arm 21 drives the upper box bodies 31 of the two flexible solar cell arrays on both sides to unfold until the solar cell panel array is completely unfolded, and then the tensioning mechanism 34 applies a pre-tightening force to pull the solar cell panel array tight.

[0087] As shown in Figure 3a , the 15 sets of compression release devices on the flexible solar cell wing are initiated in three batches, the compression release devices numbered ① and ② are symmetrically arranged on both sides of the stretching mechanism 2 (close to the lifting mechanism 1), the compression release devices numbered ③ and ④ are symmetrically arranged on both sides of the stretching mechanism 2 (far from the lifting mechanism 1), and the compression release device numbered ⑤ is arranged on the top of the stretching mechanism 2; the compression release devices numbered ⑥ and ⑨ are arranged at both ends of the lower box body 32 of one flexible solar cell array, the compression release devices numbered ⑦, ⑧, and ⑩ are sequentially arranged on the upper box body 31 of the above flexible solar cell array; the compression release devices numbered ⑪ and ⑮ are arranged at both ends of the lower box body 32 of another flexible solar cell array, and the compression release devices numbered ⑫, ⑬, and ⑭ are sequentially arranged on the upper box body 31 of the above flexible solar cell array; the compression release devices numbered ⑤, ⑧, and ⑪ are initiated in the first batch, the compression release devices numbered ①, ④, ⑦, and ⑨ are initiated in the second batch, the compression release devices numbered ②, ③, ⑥, and ⑩ are initiated in the third batch, and the compression release devices numbered ⑤, ⑧, and ⑪ are initiated in the first batch, as shown in , the compression release devices numbered ①, ④, ⑦, and ⑨ are initiated in the second batch, the compression release devices numbered ②, ③, ⑥, and ⑩ are initiated in the third batch, and the compression release devices numbered ①, ④, ⑦, and ⑨ are initiated in the first batch, as shown in , the compression release devices numbered ②, ③, ⑥, and ⑩ are initiated in the second batch, and the compression release devices numbered ①, ④, ⑦, and ⑨ are initiated in the third batch. After each batch of compression release devices is initiated, delay for 10 seconds before initiating the next batch. Figure 3b

[0088] The lifting mechanism 1 can be autonomously unfolded in sequence and fault judged, wherein the lifting mechanism 1 is provided with 2 lifting mechanism locking to position micro switches 15, 1 thermistor, and 1 angle sensor for monitoring and autonomous judgment of the unfolding process of the lifting mechanism 1. The control parameters of the unfolding process of the lifting mechanism 1 according to the program include: lifting mechanism action time t1, micro switch trigger signal, lifting mechanism motor current I1, lifting mechanism motor current limiting value I 限1 , lifting mechanism motor overcurrent protection time t 延1 , and lifting mechanism working overtime preset time t 预1 . The thermistor is used to monitor the motor temperature, and the angle sensor is used to monitor the lifting angle.

[0089] As shown in Figure 4a ​​​The lifting mechanism 1 unfolds according to the procedure as follows:

[0090] (1) Before the lifting mechanism motor is powered on, it is determined whether the two lifting mechanism locking-in-place microswitches 15 are triggered. If one is triggered, a lifting mechanism microswitch short-circuit fault is reported, the flexible solar wing autonomous deployment process is interrupted, and the ground handles the fault according to the situation; if none is triggered, the lifting mechanism action time t1 is set to 0 s, the lifting mechanism motor is powered on at t1 = 0 s, and the lifting mechanism motor accelerates to 1000 rpm under a rated torque load within t1 = 5-7 s.

[0091] (2) Then the lifting mechanism motor runs at a constant speed of 1000 rpm, and the lifting mechanism motor current I1 is detected: if the lifting mechanism motor current I1 exceeds the motor current limit value I 限1 for a duration Δt1 that exceeds the specified overcurrent protection time t 延1 (i.e., I1≥I 限1 and Δt1>t 延1 ), the motor immediately stops, a lifting mechanism overcurrent fault mode is reported, the flexible solar wing autonomous deployment process is interrupted, and the ground handles the fault according to the situation;

[0092] Otherwise (i.e., I1<I 限1 or the lifting mechanism motor current I1 exceeds the motor current limit value I 限1 but the duration Δt1≤t 延1 ), the lifting mechanism motor runs at a speed of 1000 rpm until any one of the lifting mechanism locking-in-place microswitches 15 is triggered (2 out of 1), the motor immediately stops, and the lifting mechanism 1 unfolds according to the procedure; if none of the lifting mechanism locking-in-place microswitches 15 is triggered (i.e., no microswitch trigger signal), it is determined whether the mechanism normal operation time t1 is greater than the lifting mechanism working timeout preset time t 预1 : if t1<t 预1 , the motor runs at a constant speed of 1000 rpm, and the motor current I1 is detected again; if t1>t 预1 , the lifting mechanism motor stops, a lifting mechanism working timeout fault mode is reported, the flexible solar wing autonomous deployment process is interrupted, and the ground handles the fault according to the situation.

[0093] The lower housing unfolding and locking mechanism 7 can unfold autonomously according to a time sequence and perform fault diagnosis. The two sets of lower housing unfolding and locking mechanisms 7 operate independently without coupling. Each set of lower housing unfolding and locking mechanisms 7 is equipped with two lower housing unfolding-to-position microswitches 71, two lower housing locking-to-position microswitches 72, one thermistor, and one angle sensor for monitoring and autonomous judgment during the unfolding process. Two sets of upper housing unfolding and locking mechanisms 6 are located on the same side as each set of lower housing unfolding and locking mechanisms 7, and each set of upper housing unfolding and locking mechanisms 6 is equipped with one upper housing unfolding-to-position microswitch 61. The control parameters for the lower housing unfolding and locking mechanism 7 during the programmed unfolding process include: the lower housing unfolding and locking mechanism's action time t2, the microswitch trigger signal (including the trigger signals of the upper housing unfolding-to-position microswitches corresponding to the two sets of upper housing unfolding and locking mechanisms 6 on the same side as the lower housing unfolding and locking mechanism 7), the lower housing unfolding and locking mechanism motor current I2, and the lower housing unfolding and locking mechanism motor current limit value I. 限2 The lower housing unfolding and locking mechanism motor overcurrent protection time t 延2 The lower housing unfolding and locking mechanism has a preset timeout period t. 预2 Thermistors are used to monitor the motor temperature, and angle sensors are used to monitor the unfolding angle of the lower housing unfolding and locking mechanism.

[0094] The lower housing unfolding and locking mechanism unfolds according to the following steps:

[0095] (1) Before powering on the lower housing deployment and locking mechanism motor 73, it is determined whether any one of the four micro switches (i.e., two lower housing deployment micro switches 71 and two lower housing locking micro switches 72) is in the triggered state. If any one of them is triggered, a short circuit fault of the micro switch of the mechanism is reported, and the autonomous deployment process of the flexible solar cell wing is stopped. The ground will handle the fault according to the fault situation. If none of them are triggered, the working time t2 of the mechanism is set to 0s, and the lower housing deployment and locking mechanism motor 73 starts to be powered on at t2=0s.

[0096] (2) The lower housing unfolding and locking mechanism motor 73 is directly started and accelerated to 1000rpm under rated torque load. Then the motor runs at 1000rpm, and the motor current I2 is detected. If I2≥I 限2 And I2 exceeds I 限2 The duration Δt2>t 延2 If I2, the motor will immediately stop and proceed to step (3); 限2 Or I2 exceeds I 限2 But the duration Δt2≤t 延2 Then proceed to step (5);

[0097] ​(3) After the mechanism motor stops, firstly, the "lower box locking to position signal" is judged. If any lower box locking to position micro switch 72 triggers (2 takes 1), the triggering conditions (4 takes 1) of the two lower box unfolding to position micro switches 71 and the two upper box unfolding to position micro switches 61 are judged, and step (4) is entered. If the two lower box locking to position micro switches 72 are not triggered, the mechanism micro switch abnormal fault mode is reported, and the flexible solar wing autonomous unfolding process is stopped, and the ground is disposed according to the fault condition;

[0098] (4) If one of the four micro switch to position signals triggers (that is, any one of the two lower box unfolding to position micro switches 71 and the two upper box unfolding to position micro switches 61 triggers), the lower box unfolding locking mechanism unfolds according to the program. If all four micro switch to position signals are not triggered (that is, the two lower box unfolding to position micro switches 71 and the two upper box unfolding to position micro switches 61 are not triggered), the mechanism micro switch abnormal fault mode is reported, and the flexible solar wing autonomous unfolding process is stopped, and the ground is disposed according to the fault condition;

[0099] (5) Whether the mechanism action time t2 is greater than the mechanism working timeout preset time t 预2 is judged. 预2 If t2>t 预2 , the lower box unfolding locking mechanism motor stops, the mechanism working timeout fault mode is reported, and the flexible solar wing autonomous unfolding process is stopped, and the ground is disposed according to the fault condition. If t2≤t 预2 , the motor runs at 1000 rpm, and the motor current I2 is detected again.

[0100] The constraint release mechanism 33 can autonomously unfold in time sequence and fault judgment, and the two sets of constraint release mechanisms 33 act independently without coupling relationship. Each set of constraint release mechanism 33 is provided with two constraint release unlocking to position micro switches 331, one thermistor, and a motor self-Hall sensor for monitoring and autonomous judgment of the constraint release mechanism unlocking process. The control parameters of the constraint release mechanism unlocking process according to the program include: constraint release mechanism action time t3, micro switch triggering signal, constraint release mechanism motor current I3, constraint release mechanism motor current limiting value I 限3 , constraint release mechanism motor overcurrent protection time t 延3 , constraint release mechanism working timeout preset time t 预3 , constraint release mechanism motor speed V3 and unlocking process required speed V 展3 . The thermistor is used to monitor the motor temperature, and the constraint release mechanism motor self-Hall sensor is used to monitor the motor rotation number n3. The constraint release mechanism unlocking steps according to the program are as follows:

[0101] (1) Before the release mechanism motor 332 is powered on, it is determined whether the two release unlocking microswitches 331 are triggered. If either one is triggered, a mechanism microswitch short-circuit fault is reported, the flexible solar wing autonomous deployment process is interrupted, and the ground handles the fault according to the situation; if neither is triggered, the mechanism working time t3 is set to 0 s, the release mechanism motor rotation n3 = 0, and the release mechanism motor 332 starts to be powered on at t3 = 0 s;

[0102] (2) After the release mechanism motor 332 is started, it is directly accelerated to V3 = V 展3 ;

[0103] (3) The release mechanism motor 332 runs at V3 = V 展3 ± 10%, and the release mechanism motor current I3 is detected: if I3 ≥ I 限3 and I3 exceeds the motor current limit value I 限3 for a duration Δt3 > t 延3 , the release mechanism motor 332 immediately stops, a mechanism overcurrent fault mode is reported, the flexible solar wing autonomous deployment process is interrupted, and the ground handles the fault according to the situation;

[0104] Otherwise (i.e., I3 < I 限3 or I3 exceeds I 限3 but the duration Δt3 ≤ t 延3 ), it is determined whether the two release unlocking microswitches 331 are triggered (2 out of 1):

[0105] If either release unlocking microswitch 331 is triggered, the release mechanism motor 332 is delayed for 5 s and then immediately powers off and stops, and the release mechanism is unlocked according to the program;

[0106] If neither release unlocking microswitch 331 is triggered, it is determined whether the mechanism action time t3 is greater than the mechanism working timeout preset time t 预3 : if t3 > t 预3 , the release mechanism motor stops, a mechanism working timeout fault mode is reported, the flexible solar wing autonomous deployment process is interrupted, and the ground handles the fault according to the situation; if t3 ≤ t 预3 , the release mechanism motor 332 runs at V3 = V 展3 ± 10%, and the motor current I3 and the duration Δt3 are re-determined.

[0107] The stretching mechanism 2 can be autonomously deployed in sequence and failure is judged. The stretching mechanism is provided with 2 stretching mechanism deployment to position micro switches 24, 1 thermistor, and a motor built-in rotary transformer for monitoring and autonomous judgment of the stretching mechanism deployment process. The control parameters of the stretching mechanism deployment process according to the program include: stretching mechanism action time t4, micro switch trigger signal, stretching mechanism motor current I4, stretching mechanism motor current limiting value I 限4 , stretching mechanism motor overcurrent protection time t 延4 , stretching mechanism working overtime preset time t 预4 , stretching mechanism motor rotation number n4, stretching mechanism motor speed V4, stretching mechanism motor rotation number n 展4 in the stretching mechanism deployment stage, stretching mechanism motor speed V 展4 in the stretching mechanism deployment stage, stretching mechanism motor speed V 张4 in the stretching mechanism tensioning stage, stretching mechanism deployment to position preset number of turns n 预4 . The thermistor is used to monitor the motor temperature. The stretching mechanism deployment steps according to the program are as follows:

[0108] (1) Before the stretching mechanism motor 23 is powered on, it is judged whether the 2 stretching mechanism deployment to position micro switches 24 are in the triggered state. If any one is triggered, the stretching mechanism micro switch short circuit fault is reported, and the flexible solar wing autonomous deployment process is interrupted. The ground handles the fault according to the situation; if none is triggered, the mechanism working time t4 is set to 0 s, the stretching mechanism motor 23 rotation number n4 = 0 turns, and the motor starts to be powered on at t4 = 0 s;

[0109] (2) After the stretching mechanism motor 23 is started, the speed is accelerated to V4 = V 展4 ± 5% for 5-7 s;

[0110] (3) In the stretching mechanism 3 deployment stage, the stretching mechanism motor 23 runs at V4 = V 展4 ± 5%, and the motor rotation number n4 is judged:

[0111] If the motor rotation number n4 ≥ n 展4 , the stretching mechanism tensioning stage is entered, the stretching mechanism motor 23 is speeded up for 5 s, and then the speed is reduced to V4 = V 张4 . Then the stretching mechanism motor 23 runs at V4 = V 张4 ± 5%. At this time, the trigger state of the 2 stretching mechanism deployment to position micro switches 24 and the size of the motor rotation number n4 are judged. If any stretching mechanism deployment to position micro switch 24 is triggered or n4 ≥ stretching mechanism deployment to position preset number of turns n 预4 , the motor is immediately powered off and stopped. The stretching mechanism is deployed according to the program and completed. If the 2 stretching mechanism deployment to position micro switches 24 are not triggered and n4 < n 预4 , the stretching mechanism motor current I4 is detected:

[0112] If I4>I 限4 and I4 exceeds I 限4 for a duration Δt4>t 延4 , the stretching mechanism motor 23 is immediately stopped, the mechanism over-current fault mode is reported, the flexible solar wing autonomous deployment process is aborted, and the ground is disposed according to the fault condition; if I4<I 限4 or I4 exceeds I 限4 but the duration Δt4≤t 延4 , it is determined whether the mechanism action time t4 is greater than the mechanism working timeout preset time t 预4 : if t4>t 预4 , the mechanism working timeout fault mode is reported, the flexible solar wing autonomous deployment process is aborted, and the ground is disposed according to the fault condition; if t4≤t 预4 , the stretching mechanism motor 23 is run at V4=V 张4 ±5% speed, and the trigger state of the 2 stretching mechanism deployment in-place microswitches 24 and the motor rotation number n4 are re-judged.

[0113] If the motor rotation number n4<n 展4 , the motor current I4 and the duration Δt4 are judged: if I4>I 限4 and I4 exceeds I 限4 for a duration Δt4>t 延4 , the stretching mechanism motor 23 is immediately stopped, the mechanism over-current fault mode is reported, the flexible solar wing autonomous deployment process is aborted, and the ground is disposed according to the fault condition; if I4<I 限4 or I4 exceeds I 限4 but the duration Δt4≤t 延4 , it is determined whether the mechanism action time t4 is greater than the mechanism working timeout preset time t 预4 : if t4>t 预4 , the mechanism working timeout fault mode is reported, the flexible solar wing autonomous deployment process is aborted, and the ground is disposed according to the fault condition; if t4≤t 预4 , the stretching mechanism motor 23 is run at V4=V 展4 ±5% speed, and the motor rotation number n4 is re-judged.

[0114] In summary, the above is only a preferred embodiment of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for autonomous step-by-step deployment control of a flexible solar wing into orbit, characterized in that Comprising: The pressurized release device (5) is energized, and the pressurized release device (5) is detonated to unlock and separate the flexible solar wing from the cabin body; After the pressurized release device (5) is released, delay T seconds, control the lifting mechanism motor (13) to work, make the lifting mechanism (1) rotate to 90° and lock in place, T is a set value; After the lifting mechanism (1) is deployed in place, delay T seconds, control the two sets of lower box body deployment locking mechanism motors (73) to work at the same time, drive the upper box body (31) and the lower box body (32) of the two sides of the solar cell array of the flexible solar wing to deploy 90° and lock, and make the four sets of upper box body deployment locking mechanisms (6) follow-up deploy 90° and lock; After the two sets of lower box body deployment locking mechanisms (7) are deployed and locked in place, delay T seconds, control the two sets of constraint release mechanism motors (332) to work at the same time, unlock the upper box body (31) and the lower box body (32) of the two sides of the solar cell array of the flexible solar wing to the position; After the two sets of constraint release mechanisms (33) are unlocked to the position, delay T seconds, control the stretching mechanism motor (23) to work, the stretching mechanism stretching arm (21) drives the upper box body (31) of the two sides of the solar cell array to deploy until the solar cell panel array is completely deployed, and a tensioning mechanism (34) is used to apply a pre-tightening force to tension the solar cell panel array; The two sets of lower box body deployment locking mechanisms (7) act independently; each set of lower box body deployment locking mechanism is provided with two lower box body deployment to position micro switches (71), two lower box body locking to position micro switches (72), a thermistor and an angle sensor, which are used for monitoring and autonomous judgment of the deployment process of the lower box body deployment locking mechanism, the thermistor is used for monitoring the motor temperature, and the angle sensor is used for monitoring the deployment angle of the lower box body deployment locking mechanism; each set of lower box body deployment locking mechanism (7) is provided with two sets of upper box body deployment locking mechanisms (6) on the same side, and each set of upper box body deployment locking mechanism (6) is provided with an upper box body deployment to position micro switch (61); The control parameters of the lower box unfolding locking mechanism (7) during the program unfolding process include: lower box unfolding locking mechanism action time t2, lower box unfolding locking mechanism motor current I2, lower box unfolding locking mechanism motor current limiting value I 限2 , lower box unfolding locking mechanism motor overcurrent protection time t 延2 , lower box unfolding locking mechanism working overtime preset time t 预2 ; The deployment process of the lower box body deployment locking mechanism (7) comprises: Before the lower box body deployment locking mechanism motor (73) is powered on, it is judged whether the two lower box body deployment to position micro switches (71) and the two lower box body locking to position micro switches (72) are in the triggered state, if any of the four micro switches is triggered, the mechanism micro switch short circuit fault is reported, and the autonomous deployment process of the flexible solar wing is stopped; if none of the four micro switches is triggered, the working time t2 of the lower box body deployment locking mechanism is set as 0s, the lower box body deployment locking mechanism motor (73) starts to be powered on when t2=0s, and the lower box body deployment locking mechanism motor (73) directly starts to accelerate to a set speed a under a rated torque load; The lower box unfolding locking mechanism motor (73) operates at a rotational speed a, the current I2 of the lower box unfolding locking mechanism motor is detected, if I2≥I 限2 and the duration Δt2>t 限2 when I2 exceeds I 延2 , the lower box unfolding locking mechanism motor (73) stops immediately; after the lower box unfolding locking mechanism motor (73) stops, the triggering state of the two lower box locking in place micro switches (72) is judged: if any of the two lower box locking in place micro switches (72) triggers, the triggering state of the two lower box unfolding in place micro switches (71) and the two upper box unfolding in place micro switches (61) is judged: If any of the two lower box body deployment to position micro switches (71) and the two upper box body deployment to position micro switches (61) is triggered, the lower box body deployment locking mechanism (7) is deployed according to the program and completed; if none of the two lower box body deployment to position micro switches (71) and the two upper box body deployment to position micro switches (61) is triggered, the mechanism micro switch abnormal fault mode is reported, and the autonomous deployment process of the flexible solar wing is stopped; If neither of the two lower box locking microswitches (72) is triggered, the mechanism microswitch abnormal failure mode is reported, and the flexible solar wing autonomous deployment process is aborted. If I2 < I 限2 or I2 exceeds I 限2 But the duration Δt2≤t 延2 , then determine whether t2 is greater than the lower box body unfolding locking mechanism working timeout preset time t 预2 , if t2>t 预2 , then the lower box body unfolding locking mechanism motor (73) stops, sends the mechanism working timeout fault, and the flexible solar wing autonomous unfolding process is interrupted; if t2≤t 预2 , then the lower box body unfolding locking mechanism motor (73) continues to run at the set speed a, and the lower box body unfolding locking mechanism motor current I2 is detected again.

2. The method according to claim 1, wherein the method is characterized in that: According to the installation positions of the compression release devices (5), the compression release devices (5) are numbered and divided into three batches according to the numbers, and the three batches of compression release devices (5) are sequentially initiated; after each batch is initiated, the next batch is initiated after an interval T seconds.

3. The method according to claim 1, wherein: Two lifting mechanism locking microswitches (15), a thermistor and an angle sensor are arranged on the lifting mechanism (1) for monitoring and autonomous judgment of the lifting mechanism deployment process, the thermistor is used for monitoring the motor temperature, and the angle sensor is used for monitoring the lifting angle.

4. The method according to claim 3, wherein: The control parameters of the lifting mechanism (1) during the program unfolding process include: lifting mechanism action time t1, lifting mechanism motor current I1, lifting mechanism motor current limiting value I 限1 , lifting mechanism motor overcurrent protection time t 延1 , lifting mechanism working overtime preset time t 预1 ; The lifting mechanism (1) deployment process includes: Before the lifting mechanism motor is powered on, it is judged whether the two lifting mechanism locking microswitches (15) are in the triggered state: if any of the two lifting mechanism locking microswitches (15) is triggered, the lifting mechanism microswitch short-circuit fault is reported, and the flexible solar wing autonomous deployment process is aborted; if neither of the two lifting mechanism locking microswitches (15) is triggered, the lifting mechanism action time t1 is set to 0s, the lifting mechanism motor starts to be powered on at t1=0s, and the lifting mechanism motor accelerates to a set speed a under a set time period under a rated torque load; Control the lifting mechanism motor to run at a set speed 'a' at a constant speed, and detect the lifting mechanism motor current I1: If I1 ≥ I 限1 And I1 exceeds I 限1 The duration Δt1>t 延1 If the lifting mechanism motor stops immediately, an overcurrent fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, the lifting mechanism motor runs at the set speed a until any lifting mechanism locking microswitch (15) is triggered, then the lifting mechanism motor is immediately de-energized and stops, and the lifting mechanism (1) is deployed; if none of the lifting mechanism locking microswitch (15) is triggered, then it is determined whether t1 is greater than t. 预1 If t1 > t 预1 If t1 < t2, the lifting mechanism motor stops, a timeout fault mode is reported, and the autonomous deployment process of the flexible solar cell wings is terminated; 预1 If the motor continues to run at the set speed a, the motor current I1 of the lifting mechanism will be detected again.

5. The method of claim 1, wherein: The two sets of constraint release mechanisms (33) act independently, and each set of constraint release mechanism (33) is provided with two constraint release unlocking microswitches (331), a thermistor and a motor self-Hall sensor for monitoring and autonomous judgment of the constraint release mechanism unlocking process, the thermistor is used for monitoring the motor temperature, and the motor self-Hall sensor is used for monitoring the motor rotation number n3.

6. The method of claim 5, wherein: The control parameters of the constraint release mechanism (33) during the program unlocking process include: constraint release mechanism action time t3, constraint release mechanism motor current I3, constraint release mechanism motor current limiting value I 限3 , constraint release mechanism motor overcurrent protection time t 延3 , constraint release mechanism working timeout preset time t 预3 , constraint release mechanism motor speed V3 and unlocking process required speed V 展3 ; The unlocking process of the constraint release mechanism (33) includes: Before the motor of the constraint release mechanism (332) is powered on, it is determined whether the two constraint release unlocking micro switches (331) are in the triggered state. If either micro switch is triggered, a mechanism micro switch short circuit fault is reported, and the autonomous deployment process of the flexible solar wing is interrupted. If neither micro switch is triggered, the constraint release mechanism working time t3 is set to 0 s, the constraint release mechanism motor rotation number n3 = 0, and the constraint release mechanism motor (332) starts to be powered on at t3 = 0 s. After the constraint release mechanism motor (332) is started, it is directly accelerated to V3 = V 展3 ; The constraint release mechanism motor (332) runs at V3 = V 展3 ±10%, and the constraint release mechanism motor current I3 is detected: if I3≥I 限3 and I3≥I 限3 , the duration Δt3>t 延3 , the constraint release mechanism motor (332) is immediately stopped, the mechanism over-current fault mode is reported, and the flexible solar wing autonomous deployment process is aborted; otherwise, the trigger state of the two constraint release unlocking in-place micro switches (331) is judged: If any of the constraint release unlocking microswitches (331) is triggered, the constraint release mechanism motor (332) rotates by a delay T' seconds, and then immediately stops rotating and is powered off, and the constraint release mechanism (33) is unlocked; T' is a set value; If neither of the two restraint release unlocking to the place micro switch (331) is triggered, it is judged whether the restraint release mechanism action time t3 is greater than t 预3 : If t3>t 预3 , the restraint release mechanism motor stops, the mechanism works overtime fault is reported, and the flexible solar wing autonomous deployment process is interrupted; if t3≤t 预3 , the restraint release mechanism motor (332) continues to run at V3=V 展3 ±10% speed, and the restraint release mechanism motor current I3 is detected again.

7. The method of claim 1, wherein: The stretching mechanism (2) is provided with two stretching mechanism deployment microswitches (24), a thermistor and a motor self-rotary transformer for monitoring and autonomous judgment of the stretching mechanism deployment process; the thermistor is used for monitoring the motor temperature.

8. The method according to claim 7, wherein: The control parameters of the stretching mechanism (2) during the program unfolding process include: stretching mechanism action time t4, stretching mechanism motor current I4, stretching mechanism motor current limiting value I 限4 , stretching mechanism motor over-current protection time t 延4 , stretching mechanism working overtime preset time t 预4 , stretching mechanism motor rotation number n4, stretching mechanism motor speed V4, stretching mechanism motor rotation number n 展4 during the unfolding stage, stretching mechanism motor speed V 展4 during the unfolding stage, stretching mechanism motor speed V 张4 during the tensioning stage, stretching mechanism unfolding to position preset number of turns n 预4 ; The stretching mechanism (2) deployment process includes: Before the stretching mechanism motor (23) is powered on, it is judged whether the two stretching mechanism deployment in-place micro switches (24) are in the triggered state. If either is triggered, a stretching mechanism micro switch short circuit fault is reported, and the flexible solar wing autonomous deployment process is interrupted. If neither is triggered, the stretching mechanism working time t4 is set to 0 s, the stretching mechanism motor (23) rotation number n4 = 0, and the stretching mechanism motor (23) starts to be powered on at t4 = 0 s. After the stretching mechanism motor (23) is started, the speed is accelerated to V4 = V 展4 in a set time period, and the stretching mechanism deployment phase is entered. In the stage of stretching mechanism unfolding, control the stretching mechanism motor (23) to run at V4=V 展4 ±5%, judge the rotation circle number n4 of the stretching mechanism motor: If n4≥n 展4 , then enter the tensioning stage of the stretching mechanism, the stretching mechanism motor (23) is decelerated to V4=V 张4 after gear shifting; control the stretching mechanism motor (23) to run at V4=V 张4 ±5%, and judge the triggering state of the two stretching mechanism deployment to position micro switches (24) and the size of the motor rotation n4. If any extension mechanism is deployed to the position microswitch (24) trigger or n4≥n 预4 , then immediately power off and stop, the extension mechanism (2) is deployed to complete; otherwise, the extension mechanism motor current I4 detection is carried out: If I4≥I 限4 and I4 exceeds I 限4 , the duration Δt4>t 延4 , the stretching mechanism motor (23) is immediately stopped, the mechanism over-current fault is reported, and the flexible solar wing autonomous deployment process is aborted; otherwise, it is determined whether the stretching mechanism action time t4 is greater than t 预4 : if t4>t 预4 , the mechanism operation timeout fault is reported, and the flexible solar wing autonomous deployment process is aborted; if t4≤t 预4 , the stretching mechanism motor (23) continues to run at V4=V 张4 ±5% speed, and the trigger state of the two stretching mechanism deployment in-place microswitches (24) and the motor rotation number n4 are re-judged. If n4 < n 展4 then the extension mechanism motor current I4 is detected: If I4≥I 限4 and I4 exceeds I 限4 , the duration Δt4>t 延4 , the stretching mechanism motor (23) is immediately stopped, the mechanism over-current fault is reported, and the flexible solar wing autonomous deployment process is aborted; otherwise, it is determined whether the stretching mechanism action time t4 is greater than t 预4 : if t4>t 预4 , the mechanism operation timeout fault is reported, and the flexible solar wing autonomous deployment process is aborted; if t4≤t 预4 , the stretching mechanism motor (23) continues to run at V4=V 展4 ±5%, and the motor rotation number n4 is re-judged.

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